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A couple thoughts on your DWAPlanner config:

Your controller_frequency is insanely low, and is not consistent with the black dots in first plot. Most people prefer to inherit this rate from the parent move_base.

Under normal circumstances, DWAPlanner will linearly ramp the x velocity down to 0 once it is a certain distance from the goal. Your very low acc_lim_x and very short stop_time_buffer might be interfering with this ramp-down mechanism.