RPP with non-circular robot not stopping for obstacles when not directly in front of robot

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Using RPP with non-circular robot footprint I see the robot footprint hit obstacles that are not directly in front. RPP will stop if the obstacle is directly in front. It looks like it only checks for obstacles on the look ahead collision arc but does not project the robots footprint on those points. I assume I have something configured incorrectly?

Video of situation https://drive.google.com/file/d/19zVY...

Controller config

 plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
 desired_linear_vel: 0.15
 lookahead_dist: 1.0
 min_lookahead_dist: 1.0
 max_lookahead_dist: 2.0
 lookahead_time: 2.0
 rotate_to_heading_angular_vel: 0.45
 transform_tolerance: 0.1
 use_velocity_scaled_lookahead_dist: false
 min_approach_linear_velocity: 0.1
 max_allowed_time_to_collision: 5.0
 use_regulated_linear_velocity_scaling: true
 use_cost_regulated_linear_velocity_scaling: false
 regulated_linear_scaling_min_radius: 0.01
 regulated_linear_scaling_min_speed: 0.25
 use_rotate_to_heading: true
 allow_reversing: false
 rotate_to_heading_min_angle: 0.785
 max_angular_accel: 0.8
 max_robot_pose_search_dist: 10.0
 use_interpolation: true

Local costmap config

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 4.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_footprint
      use_sim_time: False
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      footprint: "[ [0.25, 0.3048], [0.75, 0.00], [0.25, -0.3048], [-0.5, -0.12], [-0.5, 0.12] ]"
      plugins: ["static_layer", "stvl_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0 #    Exponential decay factor across inflation radius.
        inflation_radius: 0.10 #Radius to inflate costmap around lethal obstacles.
      stvl_layer:
        plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" 
        enabled: true
        voxel_decay: 10.
        decay_model: 0
        voxel_size: 0.05
        track_unknown_space: true
        max_obstacle_height: 5.0
        unknown_threshold: 15
        mark_threshold: 0
        update_footprint_enabled: true
        combination_method: 1
        origin_z: 0.0
        publish_voxel_map: false
        transform_tolerance: 0.2
        mapping_mode: false
        map_save_duration: 60.0
        observation_sources: pointcloud
        pointcloud:
          data_type: PointCloud2
          topic: /stereo_camera/depth/color/points
          marking: true
          clearing: true
          obstacle_range: 3.0
          min_obstacle_height: 0.065
          max_obstacle_height: 5.0
          expected_update_rate: 0.0
          observation_persistence: 0.0
          inf_is_valid: false
          voxel_filter: false
          clear_after_reading: true
          max_z: 7.0
          min_z: 0.195
          vertical_fov_angle: 1.01229
          horizontal_fov_angle: 1.51844
          decay_acceleration: 15.0
          model_type: 0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: False
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False