I think instead, we should add this to the tuning guide as a subpage under a header for Symmetric Navigation https://docs.nav2.org/tuning/index.html

I'd make sure to mention loudly and prominently this ROSCon talk on the subject: https://vimeo.com/879000809. I don't think most users for bidirectional need the implementation you've suggested. His work makes Nav2 fully bidirectional in terms of motion in the planners / controllers for motion -- but does care about the final orientation. Yours is adding not caring about the goal completion orientation, which is a special subcase of that

Moved section to tuning guide as suggested. Thank you for link to the video, I watched it.
I am using "Theta Star" planner, I found that by using this planner and MPPI controller with "PreferForwardCritic"
disabled and "PathAngleCritic" forward_preference = false, the robot moves in a very optimal way , it chooses
backwards or forwards depending on the current orientation and desired direction of travel, it was reorienting at the goal position , which this change fixes. In fact I am not sure why the path inversion (as described in the video) is required if the robot is truly bidirectional. Maybe I am missing something

This page can be removed now, moved to tuning