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I haven't solved this entirely BUT I am closer now that I have discovered the costmap parameters file which I was unaware of prior to my post. You can find info here and the code here.
I had originally installed the nav2 stack using apt which made it inconvenient to access this file, so I apt removed all of the packages and then reinstalled by cloning from the nav2 repository (guide here) to a dedicated nav2_ws and editing / building from there.
By playing with the following values I am slowly but surely improving my robot's mobility through turns and doorways:
footprint_paddinginflation_radiuscost_scaling_factor
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