feat(behavior_velocity_planner): keep stopping in hold stop margin distance (backport #1433)

[yn-mrse]

Description

backport #1433

• autowarefoundation@36a8343 はバージョン差分により適用不要のため対応していません。
• 9063136 におけるdebug.hppの置き換えは全ロジック置き換えとなっており全依存関係の見直しが必要であるため、変更点差分は一致しませんが、ファイル単位で perf(autoware_detected_object_validation): reduce lanelet_filter processing time (#8240) #1433 と同一となっています。

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[yn-mrse]

本変更は autowarefoundation#1645 にてrevertされており、 autowarefoundation#1648 にて再度適用されていることが判明。
本PRはCloseし、autowarefoundation#1648 を適用するPRを作成し直します。