FindPathToLocation with offset

Hi, everyone!
Is there a way to get route points with offset from NavMesh borders? I’m trying to do AI vehicle, so I can’t use Navigation agent in movement component, because I have to use custom MoveTo.

This is how it is now:

This is how I want:

Is there any way to achieve that without Navmesh modifiers or Navmesh shape changing?

Peter L. Newton - for vehicle he used customly placed points.
Zimbie Pirate - already asked :smiley:

If I add NavAgent and change its radius, path is not generating at all.
Acceptable radius change is 34-39, if I set 40 - no path.