RVO avoidance struggle to avoid more close agents

The issue is when I want an agent to avoid a whole formation of agents, close enough to each other, so there is no way among them. Despite the value of neighbors is set to 10 it seems it only takes into count the closest one. There is a video:

Any idea what could help, or point me to a part of the code responsible for this, so I can modify it to suit my case? Thanks in advance.

Also, I would like to know if there is some callback from RVO that the target point is not accessible due to agent on spot. So I know agents will never reach target unless you move agent with higher priority out.

P.S. Astar Pro 4.2.12. No rigidbodies used, only RVO agents that just send data to the motor script, that send data to the animator.