An easy way to get minions stronger than you get out of the way is to tell them to not follow. If standing next to you, they will automatically try to take a step toward you and swap places with you. They may take a short while to free themselves if stuck, but they should still prefer to move towards you AFAIK.
For minions weaker than you, you'll just have to wait for them to free themselves if they get stuck to move past.
Or even better, don't keep any minions.