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Regarding your first question:
I've replicated your issue and I got the same results. However, since all the code from the teb_local_planner is commented out, the issue could be related to move_base in general. But besides that, I think it is going to be difficult to run the planner at 20 Hz while retaining a sufficient resolution of the trajectory (dt_ref) and a good horizon length (and lots of obstacles). With some advanced parameter tuning you could have luck, but not generally.
Regarding your second question:
The velocity limit is not related to the navigation stack but to stage. Stage internally specifies velocity limits. Check out the answer here.
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