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If you're running Ubuntu -- and an Ubuntu version supported by the buildfarm / the ROS 2 version you're looking to use: use apt to install ROS. Unless you have a specific reason to do so, the binary archives ("fat archive" or "tarball") is not going to be the most convenient way to install ROS 2 on Ubuntu.

For apt based installs, everything will be in /opt/ros. The archive you downloaded can go 'anywhere', that's up to you.

Mixing-and-matching those two (or even three: if you'd include a from-source installation as well) is not a good idea -- and certainly not recommended.

The Nav2 tutorials essentially assume you've used apt to install ROS, hence the commands shown to you to install additional packages.

My advice would be to use apt and remove what you have in $HOME/ros2_foxy (unless you have a reason for using the archive-based install you haven't told us).