Ideas for playe movement with companion

So I am working on a game and I have some problems with the movement of an AI that is following me. It is a companion (smallPet) that should always be around you if you say so and that you can order to a new position. My problem is now that sometimes the companion is in my way and I can’t move in the direction the companion is. How can I fix that the companion is walking around me and is avoiding being in my way? Also how can I make actions with the companion like pushing it away instant of it walking around?
I am new to UE and I am only using blueprints

This is in the beginning (getPet is called by the Levelblueprint) and is giving the inputs to the smallPet

this is a mixture of the thirdpersonCharacter template and the topDownCharacter template.

the movement of the Pet.