two robots wait for each other for about 2.5 minutes when passing through one intersection

Bug report

Required information:

Required information:
Operating system and version: Ubuntu 22.04
OpenRMF installation type: from source
OpenRMF version or commit hash Main baranch: fc1f9983b8634b839aeddf686d97c21e9e50beb1
ROS distribution and version: Humble
ROS installation type: binary
Package or library, if applicable:

Description of the bug

I think this is one bug in traffic planner.
Both robots need to pass through one same intersection to get to the destination respectively. Randomly, both of them wait at the waypoint near that intersection, it seems each robot is waiting for another robot to pass through firstly. And about 2.5 minutes later, one robot is commanded to pass through firstly, the conflict is resolved.

Steps to reproduce the bug

About the test scenario and logs ,please refer to the following link.
https://gist.github.com/stella-ccyydy/5e8401c1a460f2f51a15d54aa07a1ed2

Expected behavior

What I expect is, RMF should determine which robot goes first immediately.

Start with the linked reproduction scenario and logs, then trace the traffic planner behavior responsible for two robots waiting at the same intersection. Confirm the cause and reproduce the deadlock before changing the planner; done means the robots select an order without the reported delay and the scenario completes normally.