Turns out that disabling Aruco3 detection helps, it’s worse at detecting smaller tags.
Also, the threshold minimum size of Aruco3 is minSideLengthCanonicalImg.
What i’ve done is that I have disabled Aruco3 Detection, and multiplied minMarkerPerimeterRate, minCornerDistanceRate and minMarkerDistanceRate by a common factor (in my case, 1/20). This makes the detection of the smaller tags reliable.