@Darrell - Not sure if you’ve seen this – I have been working with this hack to vary Pathways using existing functionality (Stubby or Decoy Deadends): Tip: Automated varying of Pathways
I have been able to vary navigation paths taken to get to and through Areas (Stubby Deadends + Pathways) and pull the rover away from tight navigation paths next to corners (just a Stubby Deadend somewhere in the Area) with it.