Big odom error when moving forward with plain environment

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I have a simulated autonomous base running in ROS1, Melodic, Gazebo with move_base, gmapping and robot_pose_ekf for the odom. When I move my robot straight forward, with the environment remaining unchanged for the entire path, then I get a bad map > odom transformation, making the robot perceive the straight path much shorter than how it actually is in reality.

I suppose this won't be a problem with a good wheel odom encoder on a real robot, but the simulation is problematic. This is similar to this question, however the answers didn't really help.

I checked the launch files of many autonomous robots (pr2, turtlebot, husky, jackal etc) to compare, but I couldn't identify the culprit. Below I post the rviz image with the map - odom error.

I tried with hector mapping but it doesn't work neither with pub_map_odom_transform = true or false since it mostly relies on lidar (not odom), and since the environment is unchanged.

I also tried changing the <publishodomtf>false</publishodomtf> of my gazebo plugin: differential_drive_controller (libgazebo_ros_diff_drive.so) to true, but it doesn't work (I think because it has many broadcasters of odom tf).

I also upload some important files for your reference:

global_costmap.yaml

global_costmap:
  global_frame: map #map
  robot_base_frame: base_link
  update_frequency: 5 # Set this as high as the cpu resources allow
  publish_frequency: 5 #2.5
  static_map: true
  rolling_window: false
  track_unknown_space: true
  width: 1024
  height: 1024
  origin_x: -51.25
  origin_y: -51.25
  resolution: 0.1
  transform_tolerance: 1.0

  plugins:
    - {name: static_layer,            type: "costmap_2d::StaticLayer"}

local_costmap.yaml

local_costmap:
  global_frame: odom # odom_combined
  robot_base_frame: base_link
  update_frequency: 10 # 5.0
  publish_frequency: 10 # 5.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05
  transform_tolerance: 1.0

  plugins:
   - {name: static_layer,        type: "costmap_2d::StaticLayer"}
   - {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}
   - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}

gmapping.launch

<launch>
  <arg name="scan_topic" default="scan"/> <!--scan_filtered-->

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">

    <param name="odom_frame" value="odom"/>
    <param name="base_frame" value="base_link"/>
    <param name="map_frame" value="map"/>
    <param name="throttle_scans" value="1"/>
    <param name="map_update_interval" value="0.1"/> <!-- default: 5.0 -->
    <param name="maxUrange" value="10.0"/>
    <param name="maxRange" value="10.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="minimumScore" value="150.0"/>
    <param name="lskip" value="0"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.1"/>
    <param name="angularUpdate" value="0.05"/>
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="20"/>
    <param name="xmin" value="-10.0"/>
    <param ...