Interestingly, the solution to this problem in humans is that all humans have different individual aggressiveness levels. That works pretty well, but I would guess it won't be one of the first things that robot fleet operators try.

I'm vibe coding a "rock-paper-scissors" protocol for robots to be able to negotiate situations just such as this.

Makes me think of https://www.thecut.com/2015/01/manslamming-manspreading-micr...

The standard way to do it with machines is to use a bit of randomisation along with exponential backoff. It's been used for collision avoidance in network protocols for a long time.