Critical fix for path tracking MPPI in new path align critic (backport #4099)

[mergify]

This is an automatic backport of pull request #4099 done by Mergify.

---

Mergify commands and options

More conditions and actions can be found in the documentation.

You can also trigger Mergify actions by commenting on this pull request:

• @Mergifyio refresh will re-evaluate the rules
• @Mergifyio rebase will rebase this PR on its base branch
• @Mergifyio update will merge the base branch into this PR
• @Mergifyio backport <destination> will backport this PR on <destination> branch

Additionally, on Mergify dashboard you can:

• look at your merge queues
• generate the Mergify configuration with the config editor.

Finally, you can contact us on https://mergify.com

[mergify]

@mergify[bot], all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @iron, but it must be in main
to have these changes reflected into new distributions.