Is it possiable to move multi-type agents just in one surface

For example, I have an agent with type Humanoid, and another with type bot1



A surface with humanoid-type is added to the platform, another is disabled

When I click the screen, these two agents try to move to the screen point, and the agent with type bot1 failed with error "SetDestination" can only be called on an active agent that has been placed on a NavMesh.
（if enabled the second one, it works）
What I want to say is that, if there are more than two agents, such as tens or hundreds, to bake a surface for each specific agent may be complicated and cost performance
So I'm considering that is it possiable to provide only one surface, and all of the agent can move on it, what's more, when unity calculate the path(cornors), it will consider the radius of each specific agent type to choose the right path.