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The first thing that comes to my mind looking at your image is that you should reduce the value of your resolution parameter (reduce the size of each cell).

Besides that, you should configure your robot_radius as close to the robot's real radius as possible, maybe with 1cm of tolerance. Because that will be the threshold for positions where the robot will definitely collide.

For the other parameters you mentined, cost_scaling_factor and inflation_radius, they should not block the path planning, but instead increase the cost of passing too close to the wall. In an extreme condition, you can set the inflation_radius to match your robot_radius. In this case, you are telling the planner that it can be as close as possible to the limit positions that will result in a collision, because you eliminate the "buffer zone" as explained here.