How to make agents move semi-imperfectly along path?

For my pathfinding, I’m attempting to make the AI move with a little bit of variation along the path so they don’t look super robotic. The closest thing I can see so far is this moment from the tutorial video where the character begins to move semi-imperfectly, but it seemed to be advised against and I wouldn’t want the characters to be too out of control.

Are there any good ways to implement something like this? Generally I would want to make something like this, where the blue line is the calculated path and something like the red path is the path it actually takes: