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It looks like you are running SLAM at the same time as navigation. This is not always a good idea since it can mess up the paths the local planner i.e. TEB is trying to generate because

1. the map area you are sending it to has unexplored areas and may be avoided by the planner because of cost
2. the map is changing as the robot is moving and SLAM is running, which can instantiate a new local plan being generated.

Try running it with a static map and see if you still experience the same behavior.

TEB also requires a lot of tuning, here is one example of TEB running on an omni-directional mobile robot in a static map https://youtu.be/VfQWa06hQlM. It takes a lot of tuning, and it is hard to say it just one specific parameter. I can try and make one for a car-like robot and see how it behaves.