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In Response to PeterW
The pathfinder is quite expensive, yes - but the most hefty part is probably finding the path in the first place. As long as script is smart about not calling it too often, it should work out. I think the way that it worked so far was that after the pathfinder was run all nodes were converted into separate MoveTo commands, so from that point onwards you'd only use the path-finder to the first node of the last search. Something along these lines.

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