Robot stands 2cm behind target (DWA Planner)

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I am using DWA planner algorithm. When I go towards the target I gave in the RVIZ environment, my robot stays a few inches behind the target point and starts to spin around itself. It stops after a while.

The place marked in red is my target point. The green line is the path created in the DWA planner. What can I do to have my robot stop at that point?

Image: https://pasteboard.co/rUd1f9U9mt0f.png

DWA planner parameters:

DWAPlannerROS:

max_vel_x: 0.13
min_vel_x: -0.13

max_vel_y: 0.0
min_vel_y: 0.0

max_vel_trans: 0.26 min_vel_trans: 0.0

max_vel_theta: 1.82
min_vel_theta: 0.9

acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2

xy_goal_tolerance: 0.6
yaw_goal_tolerance: 0.17
latch_xy_goal_tolerance: false

sim_time: 2.0
vx_samples: 20
vy_samples: 0
vth_samples: 40
controller_frequency: 10.0

path_distance_bias: 32.0
goal_distance_bias: 20.0
occdist_scale: 0.02
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2

oscillation_reset_dist: 0.05

publish_traj_pc : true
publish_cost_grid_pc: true