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