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Anyway enough background lets talk solutions. So this goes back to making sure your pals don't need to double check their route as there is no double checking. Make sure each location is easily accessible from multiple locations to help insure pals think they can reach their destination from their starting point. Making tight work/bed/eating facing outward when possible. Build both taller floors, and wider stairs then you think are required. Also while it is a pain build more stair sets then you think that you need. Some stairs seem to snag pals while others don't so experiment even if this means "downgrading" or using slanted roofs. Personally I had the most issues with metal stairs, but that might just be me. Also keep doors to a minimum... That is how I deduced pals receive each order once as they would cram out of a door to fight a base raid, but would have a crazy hard time getting back in.
Now if the developers are listening which I have stated before I don't think they are here a solution to this without fixing pathing would be making a spawn point item. That way instead of all pals spawning from the pal box when the base loads Pal A spawns at rally point A, pal B spawns at rally point B, and so on. With that in place all we would need to be concerned with is each floor had all the resources for the Pals working it. While I don't think the developers listen here they do listen on other forums I don't frequent. However, I do think this is an idea they probably are already on top of. The Expedition Station already has pals spawning in from another location to go somewhere that very well might be them testing what they can do with the code.
https://steamcommunity.com/sharedfiles/filedetails/?id=3416181449
https://steamcommunity.com/sharedfiles/filedetails/?id=3416181579
https://steamcommunity.com/sharedfiles/filedetails/?id=3416181728
https://steamcommunity.com/sharedfiles/filedetails/?id=3416181882
https://steamcommunity.com/sharedfiles/filedetails/?id=3416181969
But unfortunately there is limit how high you seem to be able to build, so you can have 3 or 4 floors from bottom to top.