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Found the fix here (pretty sure I tried it before without it working though): https://answers.ros.org/question/367262/tf2-i-can-broadcast-transfroms-but-i-cannot-listen-to-them-i-keep-getting-error-lookup-would-require-extrapolation/

The trick is to just take the last available transform from the buffer, ie for my example above:

pose_stamped_to_be_converted = PoseStamped()
pose_stamped_to_be_converted.header.stamp = rospy.Time(0)
[..]
transformed_posestamped = tfBuffer.transform(pose_stamped_to_be_converted, "tool_link", timeout=rospy.Duration(10.0))