Thoughts on rotation_shim for Turtlebot4 navigation?

[slowrunner]

Turtlebot4_navigation does not by default use the rotation_shim. Anyone have thoughts on the good/bad/ugly on using it?

I just enabled it on my TB5-WaLI and it seemed to improve navigation starts in a 10-waypoints-in-my-home test, but I saw a lot of scary:

[controller_server-1] [WARN] [1776460052.888735675] [controller_server]: 
Control loop missed its desired rate of 20.0000 Hz. Current loop rate is 8.0624 Hz.

that do not happen as often without the rotation_shim wrapping the MPPI controller.

All waypoints succeed both with and without the rotation_shim, but rotating toward path before proceeding seems to be better than the default "backup and turn toward path" that can end up stuck in tight quarters sometimes.