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Avoidance Steering Behavior acting inappropriately

I've been trying to implement this steering behavior in Unity: Understanding Steering Behaviors: Collision Avoidance However, I'm getting strange results. Here's the code for the script, feel free to ...
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How do I handle collision involving many characters?

My collision checking works fine. The problem is what to do after two zombies collide so they still walk towards the player but don't go through each other. My current method works fine for two or ...