diff --git a/inire/router/astar.py b/inire/router/astar.py
index 8f580bd..e7cccbd 100644
--- a/inire/router/astar.py
+++ b/inire/router/astar.py
@@ -229,9 +229,14 @@ class AStarRouter:
         if max_reach > self.config.min_straight_length:
              # milestone 1: exactly at max_reach (touching)
              straight_lengths.add(snap_search_grid(max_reach, snap))
-             # milestone 2: 10um before max_reach (space to turn)
-             if max_reach > self.config.min_straight_length + 10.0:
-                  straight_lengths.add(snap_search_grid(max_reach - 10.0, snap))
+             # milestone 2: space to turn before collision
+             for radius in self.config.bend_radii:
+                  if max_reach > radius + self.config.min_straight_length:
+                       straight_lengths.add(snap_search_grid(max_reach - radius, snap))
+             
+             # milestone 3: small buffer for tight maneuvering
+             if max_reach > self.config.min_straight_length + 5.0:
+                  straight_lengths.add(snap_search_grid(max_reach - 5.0, snap))
 
         visible_corners = self.visibility_manager.get_visible_corners(cp, max_dist=max_reach)
         for cx, cy, dist in visible_corners:
@@ -251,10 +256,22 @@ class AStarRouter:
              target_dist = abs(target.x - cp.x)
              if target_dist <= max_reach and target_dist > self.config.min_straight_length:
                   straight_lengths.add(snap_search_grid(target_dist, snap))
+                  # Space for turning: target_dist - R and target_dist - 2R
+                  for radius in self.config.bend_radii:
+                       if target_dist > radius + self.config.min_straight_length:
+                            straight_lengths.add(snap_search_grid(target_dist - radius, snap))
+                       if target_dist > 2 * radius + self.config.min_straight_length:
+                            straight_lengths.add(snap_search_grid(target_dist - 2 * radius, snap))
         else: # Vertical
              target_dist = abs(target.y - cp.y)
              if target_dist <= max_reach and target_dist > self.config.min_straight_length:
                   straight_lengths.add(snap_search_grid(target_dist, snap))
+                  # Space for turning: target_dist - R and target_dist - 2R
+                  for radius in self.config.bend_radii:
+                       if target_dist > radius + self.config.min_straight_length:
+                            straight_lengths.add(snap_search_grid(target_dist - radius, snap))
+                       if target_dist > 2 * radius + self.config.min_straight_length:
+                            straight_lengths.add(snap_search_grid(target_dist - 2 * radius, snap))
 
         # NO standard samples here! Only milestones.