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I think your description of the problems are accurate to what it is you're trying to accomplish. There's more than one potential answer but you're asking the right questions.

Disabling TF publication in SLAM Toolbox or redirecting it to other frames to use for fusion with GPS is certainly possible. You're right to think you shouldn't publish from both R_L and SLAM Toolbox over the same frames or else it will cause erratic behavior. This is totally feasible to fuse the output pose of SLAM Toolbox into a filter with GPS to combine them.