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I'm guessing this is a hardware issue, based on the first error. They can be a pain to resolve.

1st question, does your computer have a dedicated video card? if so, could you check that you're using (I'm assuming it's nvidia) the proprietary nvidia drivers?

If your computer doesn't have a dedicated video card, then it might be that you're asking too much from your computer. In that case, I suggest starting Nav2 without rviz. I'm not seeing a setting for it, so you might need to manually build the tb3 repo and simply remove rviz from the launch file.