How to use NavMeshQuery on several surfaces connected with NavMeshLinks?

I'm trying to make a game that needs lots of entities to navigate on the walls of a room, so I wanted to try DOTS for that.
As far as I can see, all the existing DOTS navigation solutions use NavMeshQuery in tandem with PathUtils.FindStraightPath from the Unity Austin Demo.

Using NavMeshComponents, I set up a scene with a floor and a wall connected via a NavMeshLink.


As seen on the screenshot, a normal NavMeshAgent goes through the link correctly, while the PathUtils path always goes through one of the link's corners, resulting in a janky path. The PathUtils algorithm was probably intended for flat surfaces only, but I don't understand is well enough to fix it.

So, how do I calculate a correct path from the list of PolygonIDs returned by the query?
Thanks