NavMeshAgent for Animal

I have a NavMeshAgent for a animal. The problem is that it only punctual avoid being outside of the NavMesh, so my animal glitches in walls.

Is there any solution to make the Radius of the NavMeshAgent bigger (I tried to upsize radius, but it don’t work).

May it’s important to knew that I want to have multiple different NavMeshAgents so it don’t help to set the AgentRadius higher.

My second Question is how to avoid that multiple NavMeshAgents collied.