To reproduce:
1. Open the project “ThirdPersonController-ShooterTemplate”
2. Open the scene “SampleScene”
3. Select GameObject “GameObject”
4. Wait for a few minutes (~5mins)
5. Observe crash

Reproducible with: 2021.2.0b10, 2021.2.17f1
Not reproducible with: 2020.3.36f1, 2021.2.0b9, 2021.2.18f1, 2021.3.5f1, 2022.1.7f1, 2022.2.0a17, 2023.1.0a2

Reproduced on: macOS Monterey 12.4 (Intel)

First few stack frames:
0x00007FFC1DD4C496 (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\external\\bdwgc\\mark.c:1379] GC_push_all
0x00007FFC1DAD709B (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\mono\\metadata\\boehm-gc.c:787] mono_push_other_roots
0x00007FFC1DD49B3A (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\external\\bdwgc\\mark.c:457] GC_mark_some_inner
0x00007FFC1DD499EB (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\external\\bdwgc\\mark.c:522] GC_mark_some
0x00007FFC1DD52CAD (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\external\\bdwgc\\alloc.c:832] GC_stopped_mark
0x00007FFC1DD3DAEC (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\external\\bdwgc\\alloc.c:705] GC_collect_a_little_inner
0x00007FFC1DD3BE69 (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\external\\bdwgc\\alloc.c:1563] GC_allocobj
0x00007FFC1DD44D2F (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\external\\bdwgc\\malloc.c:191] GC_generic_malloc_inner
0x00007FFC1DD4489F (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\external\\bdwgc\\malloc.c:252] GC_generic_malloc
0x00007FFC1DD48D03 (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\external\\bdwgc\\malloc.c:333] GC_malloc_kind
0x00007FFC1DAD7399 (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\mono\\metadata\\boehm-gc.c:931] mono_gc_alloc_obj
0x00007FFC1DA462EC (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\mono\\metadata\\object.c:6071] mono_object_new_specific_checked
0x00007FFC1DA4650F (mono-2.0-bdwgc) \[C:\\build\\output\\Unity-Technologies\\mono\\mono\\metadata\\object.c:6126] ves_icall_object_new_specific
SymInit: Symbol-SearchPath: 'C:/Program Files/Unity/Hub/Editor/2021.2.4f1/Editor/Data/Mono;.;E:\\Unity Projects\\ThirdPersonController-ShooterTemplate;E:\\Unity Projects\\ThirdPersonController-ShooterTemplate\\Library\\BurstCache\\JIT;C:\\Program Files\\Unity\\Hub\\Editor\\2021.2.4f1\\Editor;C:\\WINDOWS;C:\\WINDOWS\\system32;SRV*C:\\websymbols*http://msdl.microsoft.com/download/symbols;', symOptions: 534, UserName: 'CUSTOM'

Note: no crash without vWaypointAreaEditor script