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sorry but actually no undo button.
Devs talked about editing path in DK2.
When you want to "save" your plan hit spacebar and start the mission, and then hit esc and restart (just make sure you have ticked the checkbox which keeps the previous plan before you confirm your unit selection). If you later need to load the plan then simply hit esc and restart without starting the mission.
It's definitely not an intended feature, but it sure is helpful. Especially if your plans resemble something like this:
https://www.youtube.com/watch?v=SwuyGZgu0Vo