Give the obstacles physics bodies too. Now agents get stuck all the time :)
Fix seek to not return NaN,NaN if we try seek to our location
re-add the flocking behaviours. Sort of works but gets slow in tight gaps.
Make the hard physics object of the Agents smaller, which allows them to overlap a bit at times. They still have a separation force which keeps them from overlapping when unnecessary,

This gives the agents a soft feeling and lets them get through tight gaps easier.
Tuning the physics and steering behaviours to work better.
Spawn lots more agents. Split the obstacles loop in 2 and add a comment out version that makes a big wall for stress testing