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Vanilla pathing will not cause a pawn to behave the way you are describing; to walk 50 tiles out of the way to avoid a spot of lichen.
This behaviour can also be used to your advantage against enemies, as they too will prefer to walk on "fast" ground whenever they can. You can set up a minefield with IEDs, then put 1 tile floors directly under each of the IEDs and this will actually draw enemies to walk over them instead of around, especially if the ground around them is grass or sand. I know it seems kind of silly to "highlight" your mines with floors but most enemies can't actually see IEDs, so don't worry too much about that.
Also, there's another advantage to putting flagstones or concrete under your IEDs out in a minefield. If you don't want to always go out and rearm them or you don't want to set up a home area outside of your base to automatically do it, the floors can act as markers for you to replace them in the proper spots when necessary.