Inaccuracy in 2D map navigation.

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I'm using a differential drive mobile robot with ROS Indigo with the navigation parameters tuned fairly well.

Yet there is noticeable offset when it comes to the robot reaching the exact goal location. Whenever a 2D goal is given for it to navigate and reach within a map, the offset or undershoot i.e. the actual location which the robot reaches has a difference of ~0.3 meters, which i think is pretty big.

This is a major accuracy hit.

Even in in-place rotation with quaternion, there's undershoot with the orientation.

I understand that wheel slips, structure indeed influence motor odometry which impacts accuracy, but a offset this high would be bad.

Kindly suggest how this can be overcome. What changes would I have to include ?

Thank you!