Smoothen movement on stairs

When my game objects using pathfinding and recast graphs traverse stairs or small sharp elevations like the above image, they instantly snap to the surface, so it feels unnaturally choppy.

What is the simplest way to smoothen the vertical/diagonal movement in these scenarios? Preferably without using a character controller?

I was thinking of maybe instead of using AIPath I can manually generate the path points and do some tweening from one point to the next…