Have you tried Scaniverse for the capture step? It does a decent job at correcting for drift and avoiding misalignments for these sorts of scans. For example:
https://sketchfab.com/3d-models/babakawa-urban-design-projec...
https://sketchfab.com/3d-models/holiday-villa-iphone-3d-scan...
https://sketchfab.com/3d-models/street-art-on-rue-chapleau-m...
https://sketchfab.com/3d-models/day-124-colored-sidewalk-in-...