How to prevent agents from "headbutting" each other?

Currently I have had pretty good success with the local avoidance system of preventing agents with Rigidbodies from getting stuck.

However, every so often I’m running into an issue where two agents are next to a wall and collide head-on. The agents will not move out of the way of each other and get stuck running into each other. If I go into the scene view and move one of them to the side manually, they will both continue along their path as if nothing happened.

Is there any recommended approach to preventing this from happening? For reference, here is a picture of two agents colliding (the graph used is a recast graph):