Maybe you can give it a try in de function below.
On line 409 you can try to add something like && !entity.tags.has('Climbable')
With this the AI will only move on the object if it coincidentally is moving that way.
Also the sensor height must be higher than the object, otherwise the AI will move through it instead of on it.
All in all, I don’t think you will achieve the results you want.