How to configure Nav2 for a non-circular robot?

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I am currently working with a rather rectangular AGV and would like to use Nav2 in ROS2/Foxy to drive it around safely. I started in simulation with the turtle-bot world and adapted mainly the footprint-parameter to describe the robot. I can load the simulation and the footprint is visualized, however the AGV ignores it when turning.

Video of the whole sequence: robot starts from below, drives between the two obstacles, is the ordered to turn left and by doing so, moves its tail straight through an obstacle. (the simulated robot is small so that there is no collision detected) https://vimeo.com/user127468110/revie...

These are my costmap parameters:

I only replaced the robot_radius with the footprint, but this seems not to be enough to use the footprint. (Or am I missing something completely different?)

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_footprint
      use_sim_time: True
      rolling_window: true
      width: 5
      height: 5
      resolution: 0.02
      footprint: '[ [0.35, 0.35], [-0.7, 0.35], [-0.7, -0.35], [0.35, -0.35] ]'
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /safety_scanner_left
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_footprint
      use_sim_time: True
      footprint: '[ [0.35, 0.35], [-0.7, 0.35], [-0.7, -0.35], [0.35, -0.35] ]'
      resolution: 0.02
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        footprint_clearing_enabled: False
        scan:
          topic: /safety_scanner_left
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
      always_send_full_costmap: True