Problems in the pursuit and rotation

Unity Engine
,
1

Hello everyone.
I have a problem with the movement of my enemies.
What I want is for them to follow the closest opponent (they already do) but being very close they stay on top of each other. The idea is that they turn like a car, when they cross each other, the idea is that they turn around and find each other.
My script:

public class MovimientoIA : MonoBehaviour
{
    public float velocidad;
    public float angulo;
    private Rigidbody2D rb;
   
    private Transform enemigo;
    [Header("tag")]
    public string etiqueta;
   
    void Start()
    {
        rb = gameObject.transform.GetComponent<Rigidbody2D>(); 
        BuscarObjetivo();
    }

    void Update()
    {
        // Rotation
        Vector3 objetivo = enemigo.position - transform.position;
        objetivo.z = 0;
        Vector3 direccion = transform.up;
        direccion.z = 0;
        float angulo = Vector3.SignedAngle(direccion, objetivo, Vector3.forward);
        angulo = Mathf.Clamp(angulo, -360f, 360f);
        transform.Rotate(Vector3.forward, angulo);
        // Movement
        rb.velocity = transform.up * velocidad;
    }

    private void BuscarObjetivo(){
       
        if(etiqueta == "rojo"){
            enemigo = GameObject.FindGameObjectWithTag("azul").transform;
        }
        else if(etiqueta == "azul"){
            enemigo = GameObject.FindGameObjectWithTag("rojo").transform;
        }
       
    }
}

What I can do?

2

I did tests and the problem maybe is in this line:

angulo = Mathf.Clamp(angulo, -360f, 360f);
3

Two places to look for enlightenment:

  1. the documentation for Vector3.SignedAngle

  2. thihs: All about Euler angles and rotations, by StarManta:

https://starmanta.gitbooks.io/unitytipsredux/content/second-question.html

Notes on clamping camera rotation and NOT using .eulerAngles because of gimbal lock:

https://discussions.unity.com/t/838550/2
https://discussions.unity.com/t/838550/4

4

Final code (functional):

public class MovimientoIA : MonoBehaviour
{
    public float velocidad;
    private Rigidbody2D rb;
   
    private Transform enemigo;
    [Header("El tag del equipo")]
    public string etiqueta;
   
    void Start()
    {
        rb = gameObject.transform.GetComponent<Rigidbody2D>(); 
        BuscarObjetivo(etiqueta);
    }

    void Update()
    {
        // Movement
        rb.velocity = transform.up * velocidad;
    }

    void FixedUpdate() {
        // look for enemy
        BuscarObjetivo(etiqueta);

        // Rotation
        Vector3 objetivo = enemigo.position - transform.position;
        objetivo.z = 0;
        Vector3 direccion = transform.up;
        direccion.z = 0;
        float angulo = Vector3.SignedAngle(direccion, objetivo, Vector3.forward);
        
        if(angulo < 0){ angulo = -1f; }
        else if(angulo > 0){ angulo = 1f; }
        else { angulo = 0; }

        transform.Rotate(Vector3.forward, angulo);
    
    }
}