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Do you want to have correct orientation before next movement command? Because this can be simply solved by RotationShimController.

I suggest you to try changing value of yaw_goal_tolerance, based on this:

general_goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25 <---- this is rad/4, so around 14 degrees, quite a lot!
      stateful: True

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