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From what I remember it work like this, there are mechanics for AI line of sight and spoting stuff in advance.
Most (like 90%) of the things (enemies, npc,...) have somekind of way so "see in the dark".
Some can straight up see in the dark (with the nightvision mutation), other have enhanced hearing (same as player) other have other stuff that basically do the same thing.
I reckon the stuff you do also tend to attract AI (not sure how it works). For exemple if you fire a gun an AI nearby that can't see you may know you're here.
This explain how sometime you can see them path straight to youwith no line of sight.