Seeing your issue, I’m not sure if there is a solution. As you said, there is no AgentParam to fix that, and I don’t think AgentHeight would help here. I found a relating article, and one of the commenters recommended to make your own pathfinding system. I know that not having a solution isn’t helpful, but maybe your pathfinding system might be better. Artice here: Pathfinding NPC can’t jump above 6.5 studs? - Help and Feedback / Scripting Support - Developer Forum | Roblox
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