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I encountered the same problem today and solved it in simulation in the following way:

I increased the max range of the gazebo laser scan plugin to a higher distance and then went on to change the slam_toolbox max_laser_range to the max range of the laser scan. This lead to the desired behaviour that every scan up until the specified max_laser_range was used to create the map, especially in front of the robot. Unfortunately, this does not solve the problems on a real robot where we still get "inf" as value when the laser scan does not hit anything instead of the max distance. I think there exists a laser scan filter package which I will look into next.