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Thanks to @JackB I was able to find the issue. Everything is set up correctly in the launch files. The only issues was when calling turtlebot3_robot.launch.

Taken from the instructions: ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan" was the correct way of calling it. Looking at the tf_tree it, already looked as though the lidar frame was tb3_0/base_scan, but it was not. This step turned out to be absolutely crucial.

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