Stop NavMesh Agent from getting stuck

I have a bunch of navmesh agents with colliders, they are my enemies. I have a script which makes them wander around by randomly picking a point and setting the destination to that point, but when 3 of them try to cross eachothers paths they all get stuck walking into eachother, how would I stop them from getting stuck? Is there a way to make it choose another point after a few seconds of being stuck?