In this video, I went over on how to implement A* pathfinding algorithm, collision avoidance (not really), and group movement formation.
I hope you found this video informative and helpful. If you have any questions or need further clarification on any of the topics covered, please don't hesitate to reach out in the comments below.
Resources / References:
Project Files: https://github.com/akkarachaiwangcharoensap/unity-rts-navigation
Visualizing A*: https://github.com/akkarachaiwangcharoensap/unity-rts-navigation/blob/main/astar-visualization.pdf