In my experience, this is due to your path being too close to the edges.

When I want to enter a narrow space, such as a tunnel I'm digging, I have found I need to continue my movement, or start it as the case may be, lined up but well clear of the opening. Otherwise, PAM may cut the corners and hit obstacles.

Try just giving your path more space. In your example, I would say when you record home, then start recording your path from there out to your mining field, set your ship as centered in the hangar as you can, leave in a straight line, continuing out till you are very clear of the opening.

If your path to your mining job will steer you towards your hanger, be sure to move sideways another goodly distance before heading to the job site.

It will slow your journey down, but it is the way to create clean pathing.