You now have the option to recycle the lead in a "next up" manner if the team member hasn't claimed the lead in a certain amount of time. To do that, just set the "Next Up Minutes" to something greater than 0 when doing Round Robin distribution.
If you set the 'Next Up' to 5 minutes, it means that if your lead has not been claimed by the person it was distributed to, then 5 minutes later, it will go to the next one until it cycles through every person in your round robin distribution.
Associated Help Article: https://liondesk.zendesk.com/hc/en-us/articles/217038948