Unable to place goal pose when start pose is given inside parking lot spaces

Checklist

[X] I've read the contribution guidelines.
[X] I've searched other issues and no duplicate issues were found.
[X] I'm convinced that this is not my fault but a bug.

Description

Setting start pose inside parking space then setting the goal pose leads to error. Goal pose cannot be placed anywhere. Moving start pose to one of the lanes allows placing goal pose. Issue only when start pose is inside parking space, outside parking space but inside parking lot still allows goal placement.

The issue is consistent when setting start and goal pose on initial autoware start up. During replanning it seems to be inconsistent depending on start pose of ego vehicle.

Video:

https://github.com/autowarefoundation/autoware.universe/assets/130948783/e4d0e165-ecb1-4ad1-8830-53100eb6087b

Expected behavior

Freespace planning algorithm outputs trajectory after placing goal pose.

Actual behavior

Unable to place goal pose anywhere when start pose is inside parking space.

Steps to reproduce

Place start pose inside parking space (orange boxes), ego vehicle being fully inside.
set goal pose at any location.

Versions

No response

Possible causes

Error log:

[rviz2-42] [INFO] [1709166781.399727790] [rviz2]: Setting goal pose: Frame:map, Position(3724.46, 73754.1, 0), Orientation(0, 0, -0.529324, 0.84842) = Angle: -1.11561
[component_container_mt-25] [ERROR] [1709166781.661750762] [route_handler]: Failed to find a proper route!
[component_container_mt-25]  - start checkpoint: (3727.25, 73755.7,19.4987)
[component_container_mt-25]  - goal checkpoint: (3724.46, 73754.1,0)
[component_container_mt-25]  - start lane id: 9428
[component_container_mt-25]  - goal lane id: 9428
[component_container_mt-25] 
[component_container_mt-25] [WARN] [1709166781.661786924] [planning.mission_planning.mission_planner]: Failed to plan route.
[service_log_checker-3] [ERROR] [1709166781.662298218] [system.service_log_checker]: /planning/mission_planning/route_selector/main/set_waypoint_route: status code 3 'The planned route is empty.' (/default_ad_api/node/routing)
[service_log_checker-3] [ERROR] [1709166781.662358040] [system.service_log_checker]: /api/routing/set_route_points: status code 3 'The planned route is empty.' (/default_ad_api/node/routing)
[service_log_checker-3] [ERROR] [1709166781.662486600] [system.service_log_checker]: /api/routing/set_route_points: status code 3 'The planned route is empty.' (/default_ad_api/helpers/routing_adaptor)

Additional context

No response

autowarefoundation / autoware.universe