Cannot enter or exit Freespace area from overlapped bidirectional lanelets

[iumida]

I'm working on a scenario where the vehicle needs to:

Enter a Freespace area (e.g. parking zone or pallet pickup point) from a bidirectional road

Perform a Freespace parking maneuver (used for turning or U-turn)

Exit the Freespace area by returning along the same physical road in the opposite direction

To implement the bidirectional road, I followed the typical Autoware mapping approach:
creating two overlapping one-way lanelets with opposite directions to simulate a two-way road.

The issue I'm facing is:

I cannot enter the Freespace area from the lanelet

I also cannot exit the Freespace area back onto the same lanelet

📌 Desired behavior

[Lanelet A →] → [Freespace Area] → [← Lanelet A]
The vehicle enters the Freespace area in one direction, turns around (e.g. U-turn), and then exits via the same road in reverse.

Questions
Is there a supported way in Autoware Universe to allow transitions from Freespace back into a bidirectional lanelet (e.g. an overlapped lane)?

Is it recommended to avoid using overlapping lanelets for such cases?

Are there any mapping strategies that support this kind of maneuver?

Thanks in advance for any insights or advice!

[iumida]

aw1.mp4