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The local planning approach in the navigation stack only works well for global paths which have no unnecessary U-shapes.
You could try to increase the value of path_distance_bias to some value like 5.0. However you will always have problems if you try to make your robot follow non-sparse path using one of the local planners of the navigation stack.
If you need to do it, you probably have to modify the local planner so that the goal_distance_bias chooses a different point as local goal than what it currently chooses.