Dynamically Fixing NavMeshAgent Base Offset?

Scoured around looking for a solution but haven’t found anything.
So my problem is that I have a bunch of NavMeshAgents and they are floating in the air, or going into the ground depending on what I set the base offset to begin with and where they are walking at the moment. I read that the Navmesh can be up to 10% up from the Height setting and I’ve been trying to find a way to keep my models at the proper height level so they look like they are walking on the ground. Anyone know of a good way to keep NavMeshAgents at the proper height no matter where they are moving on the navmesh?

As I understand it, the built-in approach to achieving this is to bake a height mesh along with the navigation mesh. When I first started working with NavMeshAgents, I saw the same behavior you describe until I noticed height meshes are separate and default to off; the Height Mesh checkbox is under Advanced in the Bake options of the Navigation tab.