How to make RAIN AI work in a maze?

I have a game that I'm trying to finish up. The problem that I'm running into though, is the maze randomly generates and the NavMesh is made and the AI moves through the maze but it keeps trying to turn before it's able to so it just looks stupid with the AI constantly hugging the walls and running into them. How do I go about fixing this problem? I've thought about adding a sensor that detects the walls or raycasts but I don't know how to get them to actually work.