Pathfinding will not do as intended when stuck on a wall. Can anyone help?

Alright, so I got a code for an NPC that will chase you and was supposed to get itself unstuck when it runs into a wall. However it just stays stuck forever. There aren't any errors. The NPC was supposed to get itself unstuck at line 91 and 92..

local figure = script.Parent
local humanoid = figure:WaitForChild("Humanoid")
local humanoidRootPart = figure:WaitForChild("HumanoidRootPart")
local waypoints = game.Workspace.Waypoints
local PathfindingService = game:GetService("PathfindingService")
figure.PrimaryPart:SetNetworkOwner(nil)


local function canSeeTarget(target)
    local origin = figure.HumanoidRootPart.Position
    local direction = (target.HumanoidRootPart.Position - figure.HumanoidRootPart.Position).unit * 40
    local ray = Ray.new(origin, direction)

    local hit, pos = workspace:FindPartOnRay(ray, figure)


    if hit then
        if hit:IsDescendantOf(target) then
            return true
        end
    else
        return false
    end
end

local function findTarget()
    local players = game.Players:GetPlayers()
    local maxDistance = 40
    local nearestTarget

    for index, player in pairs(players) do
        if player.Character then
            local target = player.Character
            local distance = (figure.HumanoidRootPart.Position - target.HumanoidRootPart.Position).Magnitude

            if distance < maxDistance and canSeeTarget(target) then
                nearestTarget = target
                maxDistance = distance
            end
        end
    end

    return nearestTarget
end

function getPath(destination)
    local pathParams = {
        ["AgentHeight"] = 5,
        ["AgentRadius"] = 3.5,
        ["AgentCanJump"] = true
    }
    local path = PathfindingService:CreatePath(pathParams)
    path:ComputeAsync(humanoidRootPart.Position, destination.Position )
    return path
end

local function attack(target)
    local distance = (figure.HumanoidRootPart.Position - target.HumanoidRootPart.Position).Magnitude

    if distance > 8 then
        humanoid:MoveTo(target.HumanoidRootPart.Position)
    else
        --local attackAnim = humanoid:LoadAnimation(script.Attack)
        --attackAnim:Play()
        target.Humanoid.Health = 0
    end
end

local function walkTo(destination)

    local path = getPath(destination)

    if path.Status == Enum.PathStatus.Success then
        for index, waypoint in pairs(path:GetWaypoints()) do
            if waypoint.Action == Enum.PathWaypointAction.Jump then
                humanoid.Jump = true
            end
            local target = findTarget()
            if target and target.Humanoid.Health > 0 then
                print("TARGET FOUND", target.Name)
                attack(target)
                break
            else
                print("Moving to ", waypoint.Position)
                humanoid:MoveTo(waypoint.Position)
                humanoid.MoveToFinished:Wait()
            end
        end
    else
        print("STUCK LOL")
        humanoid:MoveTo(destination.Position - (figure.HumanoidRootPart.CFrame.LookVector / 5))
        humanoid.Jump = true
    end
end

local function Patrol()
    waypoints = game.Workspace:WaitForChild("Waypoints"):GetChildren()
    local randomNum = math.random(1,#waypoints)
    walkTo(waypoints[randomNum])
end


while wait(0.25) do
    Patrol()
end