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A better solution I found, was to make a "snake tunnel", forcing raiders to walk left, then right, then left again, before they can enter your base and place the traps there. In the middle, build doors. Your pawns and animals will take the fastest route: through the doors and without traps. And the raiders will take *their* fastest route, which is going the long way around the snake and over the traps, as destroying the doors will take them too long. (at least in the early game)
They have a small chance of stepping on them. It's very small, though, IIRC.
Placing doors so they and caravans/visitors/travelers can avoid them is standard practice. Raids don't really consider doors, just "straight paths." Though, a raid will consider a doorway if they see a pawn go through it. "Friendly" visitors take doorways rather than what is usually the more longer "trape maze" that most players typically set.
However, while a Caravan is mulling about, the Caravan's animals don't have the same avoidance rules as NPC Pawns and they can wander into trap setups. That's just another reason why using a Carvan Spot mod is a good idea. (AFAIK this behavior for Caravan animals has never been changed, even though the Caravan as a whole initially avoids all of them on their way in.)
Pawns always have a chance of triggering a trap. The most dangerous moments are when they're setting/rebuilding them, though. IIRC, a "Failure" means a definite "critical fail" when constructing a trap and the Pawn will be subjected to its standard damage chance/roll. After that, it's a very low chance. Owned animals usually do a fine job of avoiding them, but it's better to place doorways in the wall for them to use if they need to graze.
One possible thing - I had an occurrence of a Boomalope that had just "self tamed" end up walking right across a trap on its way to my base. Admittedly, it had self-tamed right at the corner of the trap maze so there may have been some weirdness there. I also haven't seen any wild animals get caught up in those traps. IIRC, wild animals can sense them.