How to implement a RTS unit movement as Warcraft 3 does?

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Godot Version

4.3

Question

I am trying to develop a unit movement similar to Warcraft 3. As you can see in this video, on Warcraft 3 the unit can detect the presence of other units in the path and update onw path to avoid those units. I have already searched on the web and all that I found is about the navigation avoidance attribute of the agent, but what it does (if I understand this well) is update the velocity to avoid other agents instead of update the unit path. I tried to implement this and what I am showing in the video is the best I can do with navigation_avoidance. Can someone give me some advice to improve my pathfinding to something similar to what Warcraft 3 does? It can be anything, a video, a blog post, gdscript example will be appreciated but can be in any language too.
Here you can find my project repository on GitHub

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The velocity_computed signal will send you a “safe velocity” if avoidance is on, that will adjust the velocity based on other agents (lower prio moves out of the way of higher prio) while it doesnt update the path, it will make all units try to avoid each other, and i suspect you could have units that already reached their target have very high priority, so whichever unit is still moving will try to move aorund them, while they dont move.

For a practical solution, i have no idea and would love some update if you do, lol