Character Avoidance Algorithim

The game I am building has a very key need for using a proper system of character avoidance. The world engine tells the characters to a certain point within the virtual space and tells the character what waypoints to use along the way to get there. There are a finite # of waypoints that are all predefined.

The main issue I am having is that there is potentially other characters in the way as a character goes to his destination. Or there might be some obstacle that if they avoid the character they then run into. Currently I am using UnitySteer to help me accomplish this and it works pretty well for when characters are on the same path going opposite directions or are going to run into each other when they are in motion. Now when a character is standing still and UnitySteer has to avoid that character it does not work that well. UnitySteer at least the newest version are not that well documented and I am having difficulties in making customizations to it to improve upon what is arising as issues. The examples dont really work well either now since the newest versions as well.

Has anyone used either unitysteer and had the same type of reactions from the steerforseperation script? Is there any other good out of the box avoidance algorithms that I might be able to implement? Has anyone done the same thing and maybe can point me in the correct direction?

Thanks so much in advance.