Pathfinding AI will not get itself unstuck, can anyone help?

Alright, in the past like a few days ago, I asked a question on how to fix my AI when it gets stuck. But since I never got an answer on it, I decided to try to make it work myself, and it still doesn't work. I have the entire script in the other question, I'll link the other question in the comments. If you need the entire script, I'll edit this question with the entire code, but here is what I added.

what I added in attempt to fix:

local function checkIfStuck(destination)
    local path = getPath(destination)

    local orgin = figure:WaitForChild("HumanoidRootPart")
    local direction = (figure.HumanoidRootPart.CFrame.LookVector).unit * 1
    local ray = Ray.new(origin, direction)

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

    if hit:IsA("Part") then
        print("STUCK LOL")
        humanoid:MoveTo(destination.Position - (figure.HumanoidRootPart.CFrame.LookVector / 5))
        humanoid.Jump = true
    end
end

entire script:

local figure = script.Parent
local humanoid = figure:WaitForChild("Humanoid")
local humanoidRootPart = figure:WaitForChild("HumanoidRootPart")
local waypoints = game.Workspace.waypoints:GetChildren()
local PathfindingService = game:GetService("PathfindingService")
local currentDestination = figure:WaitForChild("CurrentDestination")
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"] = 2,
        ["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 checkIfStuck(destination)
    local path = getPath(destination)

    local orgin = figure:WaitForChild("HumanoidRootPart")
    local direction = (figure.HumanoidRootPart.CFrame.LookVector).unit * 1
    local ray = Ray.new(origin, direction)

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

    if hit:IsA("Part") then
        print("STUCK LOL")
        humanoid:MoveTo(destination.Position - (figure.HumanoidRootPart.CFrame.LookVector / 5))
        humanoid.Jump = true
    end
end

local function walkTo(destination)

    local path = getPath(destination)
    currentDestination.Value = 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()
    local randomNum = math.random(1,#waypoints)
    walkTo(waypoints[randomNum])
end


while wait(0.25) do
    Patrol()
end