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You can manually unstuck them by putting them into your pal box and putting them back into your base.
Generally it is a good idea to built your base with enough clearance between the structures. The bigger the Pal the larger the clearance.
It is also a good idea to place specific base structures near to the Pals that need the structure. This speeds up your production / the process and reduces the risk of stucking.
Some objects for stucking, like trees and ores, should be mined by specific Pals to avoid stucking.
Leaving sufficient space around any work stations will help prevent them getting stuck. Don't stick your ranch too close to blue border or a wall, pals can and will try to enter/exit there and then they will get stuck.
Since they fixed the issue with farm on 2nd level stopping pals from pathing below, do build upwards so you have a lot of space. Make each floor 2-wall high.
Some terrain + AI + pal combination are just problematic. I have an ore/coal base on a cliff surrounded by stone defensive walls. I used 4 dumuds there, and after a while they all went and phased out of the walls and stuck outside. I removed a section, they came back inside, I put a wall back, they phased out again. Had to replace them with Anubis and other watering pals.
Also two of my bases are on a giant flat plane now, that helps a lot.
No buildings in the way, clear travel lines to where they need to go, crates and food near by, and all small Pals involved, but then they go off to the edge and lose their brains. Also have had a couple of them end up on top of things, cattiva and tanzo on top of logging trees and creami on my roof.
Just strange.