NPC AI Flocking (anti crowding)

How can the below be achieved, please?

Continuing the discussion from Preventing AI from crowding/clustering when chasing a target?:

Well the closest thing I’ve gotten to making a flock system was following this tutorial. The only issue is that this tutorial didn’t have pathfinding, which is okay, but when I was looking for a way similar to the post you have linked(flocking while pathfinding), I never found any resources or links.
And if I did find a resource or link, it usually wasn’t for 3d npcs.

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