Hi,
One of the basic assumption for capturing pictures to be used to make a panorama is that the center of camera is located at the same place while the camera is rotated around its center/axis. (rotational motion is acceptable but no translational motion)
With the forward overlap, the center of the camera has different locations for each picture (this is similar to pictures captured with a stereo camera). So you can use softwares designed for stereoscopy (for example COLMAP) to create a 3D model from your pictures.
In hugin, you can manually select control points between a pair of overlapping images but it won't help in your case since Hugin can not deal with stereo images.
BR,