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amcl_pose is only published on a filter update. It is not published on a regular basis if, for instance, you stop moving since AMCL updates based on a time, distance, or rotational distance metric.

You should be using TF for the current positioning information, not amcl_pose. You could, as you suggest, lower the update minimum distance, time, or angle, but that will substantially impact your localization quality and behavior, so you should not do that casually.