diff --git a/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp b/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp
index 7cae783bb9f..991629361dc 100644
--- a/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp
+++ b/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp
@@ -58,6 +58,9 @@ inline BT::NodeStatus TruncatePathLocal::tick()
   getInput("max_robot_pose_search_dist", max_robot_pose_search_dist);
 
   bool path_pruning = std::isfinite(max_robot_pose_search_dist);
+  if (distance_forward < 0.0) {
+    distance_forward = std::numeric_limits<double>::max();
+  }
   nav_msgs::msg::Path new_path;
   getInput("input_path", new_path);
   if (!path_pruning || new_path != path_) {
diff --git a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
index 54048f1c171..ca5a616b9f9 100644
--- a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
+++ b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
@@ -1,5 +1,5 @@
 <!--
-  This Behavior Tree replans the global path once every 15 seconds or if the path becomes invalid. It also has
+  This Behavior Tree replans the global path once every 15 seconds or if the path becomes invalid and not close enough to goal. It also has
   recovery actions specific to planning / control as well as general system issues.
   This will be continuous if a kinematically valid planner is selected.
 -->
@@ -19,7 +19,9 @@
                 <Inverter>
                   <GlobalUpdatedGoal/>
                 </Inverter>
-                <IsPathValid path="{path}"/>
+                <IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
+                <TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
+                <IsPathValid path="{remaining_path}"/>
               </ReactiveSequence>
               <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             </Fallback>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
index 3293b52df45..1468b28201c 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
@@ -14,10 +14,20 @@
         <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="0.333">
           <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
-            <ReactiveSequence>
-              <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7" input_waypoint_statuses="{waypoint_statuses}" output_waypoint_statuses="{waypoint_statuses}"/>
-              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
-            </ReactiveSequence>
+            <Fallback name="FallbackComputePathToPose">
+              <ReactiveSequence name="CheckIfNewPathNeeded">
+                <Inverter>
+                  <GlobalUpdatedGoal/>
+                </Inverter>
+                <IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
+                <TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
+                <IsPathValid path="{remaining_path}"/>
+              </ReactiveSequence>
+              <ReactiveSequence>
+                <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7" input_waypoint_statuses="{waypoint_statuses}" output_waypoint_statuses="{waypoint_statuses}"/>
+                <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
+              </ReactiveSequence>
+            </Fallback>
             <Sequence>
               <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
index 5a00c52a20f..ae8aca33011 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
@@ -15,7 +15,17 @@
         <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
+            <Fallback name="FallbackComputePathToPose">
+              <ReactiveSequence name="CheckIfNewPathNeeded">
+                <Inverter>
+                  <GlobalUpdatedGoal/>
+                </Inverter>
+                <IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
+                <TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
+                <IsPathValid path="{remaining_path}"/>
+              </ReactiveSequence>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
+            </Fallback>
             <Sequence>
               <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
index 7ddbf6297dd..a7cd1fab36b 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
@@ -13,7 +13,17 @@
         <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
+            <Fallback name="FallbackComputePathToPose">
+              <ReactiveSequence name="CheckIfNewPathNeeded">
+                <Inverter>
+                  <GlobalUpdatedGoal/>
+                </Inverter>
+                <IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
+                <TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
+                <IsPathValid path="{remaining_path}"/>
+              </ReactiveSequence>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
+            </Fallback>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>