Hello, when using Backward docking mode the robot correctly reverse to the docking pose but very near docking pose it starts doing in-place circles without the end. The problem only occurs it this mode.
The solution I've found:

The SmoothControlLaw method used in docking server is calculateRegularVelocity(pose, backward) (link) and changing it to that one taking also the robot current pose fixes the problem: calculateRegularVelocity(const geometry_msgs::msg::Pose & target,const geometry_msgs::msg::Pose & current,const bool & backward = false) (link)
I haven't checked that but the problem can also occur in the GracefulController since it's implemented similarly (link).
I also had to delete the lines with backward_projection (428-432) (link) (then I modified it for my case to perform initial in-place rotations).

In summary:

• Used calculateRegularVelocity(pose,current, backward) instead of calculateRegularVelocity(pose, backward)
• Commented out the part with backward_projection(and that part does not exist in GracefulController)

After this changes the robot stops correctly in the end point (with default controller parameters)

I will propose that changes on pull request.