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To test, you can tell Kelvin to follow you and then run up/over the ramp/stairs. If he follows you, then his pathing accepts your path, if not, then it isn't recognized as a path they can use.
Don't matter if i tell him to follow me and i move far away then go back and forth to change the direction of the line between us and wait a while at each place. Seems like he can do better if you tell him to take a break but he's breaked-out and ready to work so he still tries to go to you.