DWB local planner final in-place rotation never happen RotateToGoal

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I'm currently using move_base_flex with dwb_local_planner for navigation.

The robot drives smooth and nice, but never get final in-place rotation to the goal pose.
At the very end dwb planner /evaluation gives me:

RotateToGoal: score: -1

My robot is quite big, got nice motors and decent imu, the time between machines is synchronized.

My DWB planner parameters are the following:

footprint: [[ 0.7000,  0.4500],
        [ 0.8000,  0.0000], # arrow
        [ 0.7000, -0.4500],
        [ 0.0000, -0.4500],
        [-0.7500, -0.4500],
        [-0.7500,  0.0000],
        [-0.7500,  0.4500],
        [ 0.0000,  0.4500]]
controllers:
  - name: 'BaseLocalPlanner'
    type: 'nav_core_adapter::LocalPlannerAdapter'

LocalPlannerAdapter:
  planner_name: dwb_local_planner::DWBLocalPlanner

DWBLocalPlanner:
  # Robot Configuration Parameters
  update_frequency: 5.0
  publish_frequency: 3.0

  max_vel_x: 0.3
  min_vel_x: 0.15

  max_vel_y: 0.0
  min_vel_y: 0.0
  max_vel_theta: 0.5

  acc_lim_x: 1.2
  acc_lim_y: 0
  acc_lim_theta: 1.4

  decel_lim_x: -1.2
  decel_lim_y: 0
  decel_lim_theta: -1.4

  max_speed_xy: 0.35
  min_speed_xy: 0.18
  min_speed_theta: 0.35

  # Goal checking
  goal_checker_name: dwb_plugins::SimpleGoalChecker



  critics: ["RotateToGoal", "Oscillation", "ObstacleFootprint", "PathAlign", "GoalAlign", "PathDist", "GoalDist"]

  RotateToGoal:  
    scale: 32.0  
    slowing_factor: 5.0  
    lookahead_time: -1.0  
  ObstacleFootprint:  
    scale: 0.01  
    max_scaling_factor: 0.2  
    scaling_speed: 0.25  
  PathDist:  
    scale: 32.0  
  GoalDist:  
    scale: 32.0  
  PathAlign:  
    scale: 16.0  
    forward_point_distance: 0.325  
  GoalAlign:  
    scale: 32.0  

  xy_goal_tolerance: 0.1  
  yaw_goal_tolerance: 0.05  

  trans_stopped_velocity: 0.1  
  rot_stopped_velocity: 0.05  

  # Forward Simulation Parameters  
  sim_time: 1.7   
  linear_granularity: 0.05  
  vx_samples: 3  
  vtheta_samples: 30

Has somebody faced this issue before?

"controller_frequency" param is set to 4.0
Also, I'm using velocity smoother, params are:

<param name="speed_lim_v"  value="0.35"/>
   <param name="speed_lim_w"  value="0.7"/>
   <param name="accel_lim_v"  value="1.2"/>
   <param name="accel_lim_w"  value="3.2"/>
   <param name="decel_factor"  value="0.6"/>
   <param name="frequency"  value="100"/>
   <param name="robot_feedback"  value="0"/>