Custom pathfinding waypoints

I want to basically give ai the ability to crouch through holes in walls and include it in their pathfinding. I am unsure how to go about it or what Roblox has that may help me create this.

I have lowered the HRP before so that the pathfinding can do this, but I was looking for a solution that does not adjusting it.

I’d reccomend A* pathfinding by Sleitnick, it has a plugin to create paths and a module to create a waypoint. When i am home i will look to find the plugin link.