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Did you try with something like:

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["wait"]
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 0.1
    use_sim_time: true

based on:

https://navigation.ros.org/configuration/packages/configuring-behavior-server.html#default-plugins ?

EDIT: This isn't enough, you need to modify Behavior Tree too. Sorry for misleading before.

Did you try with something like:

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["wait"]
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 0.1
    use_sim_time: true

based on:

https://navigation.ros.org/configuration/packages/configuring-behavior-server.html#default-plugins ?

Modification of Behavior Tree - you can use the Groot. For installation on ROS2 Galactic use:

   cd ~/dev_ws/src
   git clone https://github.com/BehaviorTree/Groot.git
   cd ..
   rosdep install --from-paths src --ignore-src
   colcon build --symlink-install --packages-select groot

I have sudo apt install ros-galactic-behaviortree-cpp-v3 before too.

You have to source install/setup.bash and ./build/groot/Groot.

You can load BT XMLs from the Nav2 repository and modify it, e.g. like this:

root main_tree_to_execute="MainTree">
    <BehaviorTree ID="MainTree">
        <Control ID="RecoveryNode" name="NavigateRecovery" number_of_retries="6">
            <Control ID="PipelineSequence" name="NavigateWithReplanning">
                <Decorator ID="RateController" hz="0.333">
                    <Control ID="RecoveryNode" name="ComputePathThroughPoses" number_of_retries="1">
                        <ReactiveSequence>
                            <Action ID="RemovePassedGoals" input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
                            <Action ID="ComputePathThroughPoses" goals="{goals}" path="{path}" planner_id="GridBased" start=""/>
                        </ReactiveSequence>
                        <ReactiveFallback name="ComputePathThroughPosesRecoveryFallback">
                            <Condition ID="GoalUpdated"/>
                            <Action ID="ClearEntireCostmap" name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
                        </ReactiveFallback>
                    </Control>
                </Decorator>
                <Control ID="RecoveryNode" name="FollowPath" number_of_retries="1">
                    <Action ID="FollowPath" controller_id="FollowPath" goal_checker_id="GoalChecker" path="{path}"/>
                    <ReactiveFallback name="FollowPathRecoveryFallback">
                        <Condition ID="GoalUpdated"/>
                        <Action ID="ClearEntireCostmap" name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
                    </ReactiveFallback>
                </Control>
            </Control>
            <ReactiveFallback name="RecoveryFallback">
                <Condition ID="GoalUpdated"/>
                <Control ID="RoundRobin" name="RecoveryActions">
                    <Sequence name="ClearingActions">
                        <Action ID="ClearEntireCostmap" name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
                        <Action ID="ClearEntireCostmap" name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
                    </Sequence>
                    <Action ID="Wait" wait_duration="5"/>
                </Control>
            </ReactiveFallback>
        </Control>
    </BehaviorTree>
</root>

EDIT: This isn't enough, you need to modify Behavior Tree too. Sorry for misleading before.

Did you try with something like:

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["wait"]
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 0.1
    use_sim_time: true

based on:

https://navigation.ros.org/configuration/packages/configuring-behavior-server.html#default-plugins ?

Modification of the Behavior Tree - you can use the Groot. For ~~installation on~~ the ROS2 Galactic use:

   cd ~/dev_ws/src
   git clone https://github.com/BehaviorTree/Groot.git
   cd ..
   rosdep install --from-paths src --ignore-src
   colcon build --symlink-install --packages-select groot

I have sudo apt install ros-galactic-behaviortree-cpp-v3 before too.

You have to source install/setup.bash and ./build/groot/Groot.

You can load BT XMLs from the Nav2 repository and modify it, e.g. like this:

root main_tree_to_execute="MainTree">
    <BehaviorTree ID="MainTree">
        <Control ID="RecoveryNode" name="NavigateRecovery" number_of_retries="6">
            <Control ID="PipelineSequence" name="NavigateWithReplanning">
                <Decorator ID="RateController" hz="0.333">
                    <Control ID="RecoveryNode" name="ComputePathThroughPoses" number_of_retries="1">
                        <ReactiveSequence>
                            <Action ID="RemovePassedGoals" input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
                            <Action ID="ComputePathThroughPoses" goals="{goals}" path="{path}" planner_id="GridBased" start=""/>
                        </ReactiveSequence>
                        <ReactiveFallback name="ComputePathThroughPosesRecoveryFallback">
                            <Condition ID="GoalUpdated"/>
                            <Action ID="ClearEntireCostmap" name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
                        </ReactiveFallback>
                    </Control>
                </Decorator>
                <Control ID="RecoveryNode" name="FollowPath" number_of_retries="1">
                    <Action ID="FollowPath" controller_id="FollowPath" goal_checker_id="GoalChecker" path="{path}"/>
                    <ReactiveFallback name="FollowPathRecoveryFallback">
                        <Condition ID="GoalUpdated"/>
                        <Action ID="ClearEntireCostmap" name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
                    </ReactiveFallback>
                </Control>
            </Control>
            <ReactiveFallback name="RecoveryFallback">
                <Condition ID="GoalUpdated"/>
                <Control ID="RoundRobin" name="RecoveryActions">
                    <Sequence name="ClearingActions">
                        <Action ID="ClearEntireCostmap" name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
                        <Action ID="ClearEntireCostmap" name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
                    </Sequence>
                    <Action ID="Wait" wait_duration="5"/>
                </Control>
            </ReactiveFallback>
        </Control>
    </BehaviorTree>
</root>