Help with obstacle avoidance for 2D top-down game

Hello everyone, I need help implementing an obstacle avoidance maneuver for enemies in a 2D top-down game. The obstacles have the layer and tag 'Asteroid' or 'Station', and the enemies should navigate around them while taking their size into consideration (for example, by using sprite.bounds). The enemies are implemented as Rigidbody2D and can freely rotate and move in 360 degrees. Additionally, they are following the player. Asteroids are dynamically spawned in the world. I would greatly appreciate your help in solving this problem without using an A* algorithm. Thank you in advance!