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I had a similar issue and the problem was that I was providing a path with few via-points (they were far away), and the TEB algorithm seemed to look ahead a few points, thus finding the goal one and going for it. My solution was to provide intermediate via-points along the way (i.e. a straight line would have many intermediate points) and that solved the issue.

Separately, check the max_global_plan_lookahead_dist and give it a small value (say 0.5 or 1) to make sure it does not look many meters ahead, thus reaching for the goal position instead of your via-points.