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I would strongly recommend inputting the same obstacle layers you have enabled in your local costmap into your global costmap so that the global planner won't try ramming into things. The local planner will give you much better results if the path you give it doesn't contain obstacles.

If you don't want to do that, I would remove the oscillation critic to simplify your system a little bit and then start experimenting with critic parameters and see if you can get better results. Make sure the stop_on_failure is set for your mapgrid critics. Things like trinary_costmap, sim_time, aggregation_type and critic scale. It defaults to only scoring the last pose in a trajectory.