Asked a question: aren't we reinventing the wheel? The agent did a survey and answered: in navigation no, in localization yes. Nav2 from ROS for example can't do different turning radii left and right, so we keep our own Hybrid A*. But all the wrapping around GEN_3 (timeouts, the millimeter filter, map archives, resets) is patching a black box where one pose is both odometry and global positioning at the same time.
First step: split the pose into odom and map. Navigation now drives on continuous odometry and map jumps don't jerk it. On a 2.8 m drive with a turn the difference is 3 mm.