The Crazy DWAPlannerROS is confusing on global path's some parts

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Hi Roboticists,

Here is video, I'm using dwa_local_planner and it confuses at near to goal position. Especially, when goal point's X and footprint center's X are close, it confuses.

Changed /move_base/base_local_planner/dwa_local_planner's logger level from Info to Debug and now, rqt_console says something at struggling:

...
Velocity -0.600, 0.000, 0.189 discarded by cost function  0 with cost: -5.000000
Velocity -0.600, 0.000, 0.063 discarded by cost function  0 with cost: -5.000000
Evaluated 62 trajectories, found 32 valid
Velocity 0.600, 0.000, 1.200 discarded by cost function  0 with cost: -5.000000
Velocity 0.600, 0.000, 1.074 discarded by cost function  0 with cost: -5.000000
Velocity 0.600, 0.000, 0.947 discarded by cost function  0 with cost: -5.000000
Velocity 0.600, 0.000, 0.821 discarded by cost function  0 with cost: -5.000000
...

Here is new video.

Changed use_dwa parameter to false and now, only latest struggling on the end of the path (at very close to goal) problem solved.

At struggling, I'm tuning path and goal distance parameters and robot is surviving from that point. And also tuning acceleration and velocity parameters on stuck point can survive robot.

I've replaced footprint to square but the result didn't change. Here is dwa_local_planner's parameters:

DWAPlannerROS:
  # Robot Configuration Parameters
  acc_lim_x: 10.0 # (double, default: 2.5) The x acceleration limit of the robot in meters/sec^2
  acc_lim_y: 0.0 # (double, default: 2.5)
  acc_lim_theta: 20.0 # (double, default: 3.2)
  acc_limit_trans: 1.0 # 
  max_trans_vel: 0.6 # (double, default: 0.55)
  min_trans_vel: 0.02 # (double, default: 0.1)
  trans_stopped_vel: 0.02 # 
  rot_stopped_vel: 0.02 # 
  max_vel_x: 0.6 # (double, default: 0.55)
  min_vel_x: -0.6 # (double, default: 0.0)
  max_vel_y: 0.0 # (double, default: 0.1)
  min_vel_y: 0.0 # (double, default: -0.1)
  max_rot_vel: 1.2 # (double, default: 1.0)
  min_rot_vel: 0.02 # (double, default: 0.4)
  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.01 # (double, default: 0.05) 
  xy_goal_tolerance: 0.07 # (double, default: 0.10)
  latch_xy_goal_tolerance: false # (bool, default: false)
  # Forward Simulation Parameters
  sim_time: 0.5
  sim_granularity: 0.05
  angular_sim_granularity: 0.05
  vx_samples: 3 # (integer, default: 3)
  vy_samples: 1 # (integer, default: 10)
  vtheta_samples: 20 # (integer, default: 20)
  # controller_frequency: 10.0 # (double, default: 20.0)
  # Trajectory Scoring Parameters
  path_distance_bias: 32.0 # (double, default: 32.0)
  goal_distance_bias: 24.0 # (double, default: 24.0)
  occdist_scale: 0.01 # (double, default: 0.01)
  # pdist_scale: 0.75  
  # gdist_scale: 0.8 
  forward_point_distance: 0.0 # 2.0 # 0.325 
  stop_time_buffer: 0.2 # (double, default: 0.2)
  scaling_speed: 0.25 # (double, default: 0.25)
  max_scaling_factor: 0.2 # (double, default: 0.2) 
  use_dwa: true
  #Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05 # (double, default: 0.05)
  oscillation_reset_angle: 0.05 # 
  prune_plan: false # (bool, default: true) 
TrajectoryPlannerROS:
  yaw_goal_tolerance: 0.01
  acc_lim_th: 10.0
  max_rotational_vel: 1.2
  min_in_place_rotational_vel: 0.02
  holonomic_robot: false
  meter_scoring: true

Thank you.

UPDATE5: removed screenhots, Shortened question, added new temporary solution (only for some cases).