exhausted with implementation

Hello all,

Im new to ros2 and robotics in general. Im trying to make webots + ros2 (specifically nav2 with lane keeping ) work with multiple Turtlebot 4 robots. But im facing lot of issues, Im not even sure why and where the problem is.

1. My localization isn't accurate, it always drifts a lot after sometime, especially in corners where the robots just collide with the wall, instead of turning.
2. im not able to implement proper lane keeping.( 2 way lane, robot from different directions should always keep right).
3. I want to make the robots follow a specific path for testing how it reacts with deadlock with other robots, but it just wont budge.
4. I tried to use the ground truth from webots (without amcl) and initialise the pose, but yeah it starts well but somehow it also drifts.
5. i havent tried different path planning other tha NavFn and DWB controller.
6. i was able to make the namespace work for multiple robots.
7. i have map of webots environment which i created with slam tool box
8. i have a launch file, which calls a supervisor code which then builds my world, and i have internal controller which subscribes to all the topic and also publish the robots information/sensor and tf.

I appreciate if you can share some insights what i could possibly be overlooking or doing things wro ng, and what is a proper and clean standard way of doing things.

Thank u for taking ur time!