I think this is a very good question, but I wouldn’t have an answer for it myself. I’ll tag @aron_granberg in this and see what he suggests for getting more hands-on and manual with path creation. I’m almost sure there’s a way to do what you’re asking but he’d know better than me 
So in a post-processing fashion, I’d imagine it would look something like doing a raycast from one point to the next and verify there are no small obstacles in the path, getting the total length that needs to be walked around (you could probably get the Renderer.bounds for this), then you add three points intercepting that portion of the new path with the first point moving to the side, then forward, then back.
“If there is something in this leg of the path, get the bounds, and use those values to place points around the bounds (maybe +2f) to walk around it”
For large obstacles I doubt this would even be an issue though.