Is EKF(robot_localization) expected to converge when the input data is relative like imu+odom

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Hello, I am using the EKF node from the robot_localization package for local state estimation (odom->base_link), for which I am using the data from an IMU and wheel odometry, No matter how much I tune the Q matrix, the error estimate covariance matrix diagonal elements/variances keep on increasing slowly. Smaller the values of Q, the slower the values of P increase. Is this normal when using relative measurement data? OR should the EKF P matrix converge even when the input data is relative, considering the Q and R and tuned properly.

odom0_config: [false,  false,  false,
               false, false, false,
               true, true, false,
               false, false, true,
               false, false, false]


imu0_config: [false, false, false,
              false, false,  true,
              false, false, false,
              false, false,  true,
              true,  false, false]

Thank You