robot_localization posting datum messages and never starting map localization

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I ma trying to use the robot_localization package to fuse odometry, imu, and gps data according to link.

As such I have two ekf nodes and a navsat transform node. In the documentation it says that the navsat transform node can work by using the first GPS reading as the datum, as far as I am aware this then means that the wait_for_datum parameter should be set to false.

For me, this results in a neverending loop where ekf_localization_map waits on /odometry_gps from navsat_transform, navsat_transform then waits on /odometry/filtered/map from ekf_localization_map. The whole time navsat_transform spams with messages of

[navsat_transform_node-8] [INFO] [1641296576.110339410] [navsat_transform]: Datum (latitude, longitude, altitude) is (37.50, -122.00, 0.03)
[navsat_transform_node-8] [INFO] [1641296576.110379312] [navsat_transform]: Datum UTM coordinate is (10S, 588391.24, 4150810.87)

I'm not really sure how to set this up properly? Note, I think my setup more or less corresponds to the example param and launch files from the robot_localization github repo.

My config and launch files: config file

# For parameter descriptions, please refer to the template parameter files for each node.
ekf_localization_odom:
  ros__parameters:
    frequency: 30.0
    sensor_timeout: 0.0 #0.1
    two_d_mode: true
    transform_time_offset: 0.0 #0.01
    transform_timeout: 0.0
    print_diagnostics: true
    debug: false

    map_frame: map
    odom_frame: odom
    base_link_frame: base_link
    world_frame: odom

    odom0: odometry/wheel
    odom0_config: [false, false, false,
                   false, false, false,
                   true,  true,  false,
                   false, false, true,
                   false, false, false]
    odom0_queue_size: 10
    odom0_nodelay: true
    odom0_differential: false
    odom0_relative: false

    imu0: imu/data
    imu0_config: [false, false, false,
                  true,  true,  true,
                  false, false, false,
                  true,  true,  true,
                  true,  true,  true]
    imu0_nodelay: true # false
    imu0_differential: false
    imu0_relative: false
    imu0_queue_size: 10
    imu0_remove_gravitational_acceleration: true # trying false with 2d_mode: true

    use_control: false

ekf_localization_map:
  ros__parameters:
    frequency: 30.0
    sensor_timeout: 0.0 #0.1
    two_d_mode: true
    transform_time_offset: 0.0 #0.01
    transform_timeout: 0.0
    print_diagnostics: true
    debug: false

    map_frame: map
    odom_frame: odom
    base_link_frame: base_link
    world_frame: map

    odom0: odometry/wheel
    odom0_config: [false, false, false,
                   false, false, false,
                   true,  true,  false,
                   false, false, true,
                   false, false, false]
    odom0_queue_size: 10
    odom0_nodelay: true
    odom0_differential: false
    odom0_relative: false

    odom1: odometry/gps
    odom1_config: [true,  true,  true,
                   false, false, false,
                   false, false, false,
                   false, false, false,
                   false, false, false]
    odom1_queue_size: 10
    odom1_nodelay: true
    odom1_differential: false
    odom1_relative: false

    imu0: imu/data
    imu0_config: [false, false, false,
                  true,  true,  true,
                  false, false, false,
                  true,  true,  true,
                  true,  true,  true]
    imu0_nodelay: true
    imu0_differential: false
    imu0_relative: false
    imu0_queue_size: 10
    imu0_remove_gravitational_acceleration: true # trying false with 2d_mode: true

    use_control: false

navsat_transform:
  ros__parameters:
# Frequency of the main run loop
        frequency: 30.0

# Delay time, in seconds, before we calculate the transform from the UTM frame to your world frame. This is especially
# important if you have use_odometry_yaw set to true. Defaults to 0.
        delay: 3.0

# PLEASE READ: Like all nodes in robot_localization, this node assumes that your IMU data is reported in the ENU frame.
# Many IMUs report data in the NED frame, so you'll want to verify that your data is in the correct frame before using
# it. 

# If your IMU does not account for magnetic declination ...