The main virtue of the shaheds is they are fairly cheap and simple so the Russians can send hundreds. If you try making them capable of evasive maneuvers and the like you lose some of that.

The Mangust design is quite interesting

>steered by the pilot until, at around 200 meters (650 feet), its auto-guidance system takes over and autonomously completes the interception. https://www.kyivpost.com/post/57595

Still seems to be a prototype though - not sure they've hit any shaheds.

they are 35k-50k a piece. they have advanced anti jamming capabilities (when ukrainians managed to bring one down in "one piece", they take out this part and reuse it in their drones). upgraded models have nvidia jetson that used for optical targeting.

adding a few ultrasonic sensors, wires and writing extra 1000 lines of code not going to change BoM much