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I FOUND THE DIFFRENCE! NPC's will not path through utility hallways unless they absolutely have to!
I setup 2 tests.
Test 1:
Consists of a bedroom, bed, and a split from the room from Domestic to Utility.
Test 2:
Consists of 2 beds (a&b), 2 bed rooms(a&b respectively), one hall is domestic (a), the other utility(b).
In test 1, the NPC's would never path out of the utility hallway, even if I turned the domestic hallway into a long snake.
IN test 2, both NPC's would use both hallways to access each room (which were not connected), however, the instant I placed a door in A & B to the outside (no hallway connection), only B (utility) would use the door created.
There seems to be a strange priority system in place.
Anways, hope that helps, I too had this question and from everything I read people said "just color diffrence" and I was like, "There is no color diffrence on the inside! So there has to be something..."
I found it :)
Although I did notice something similar, my settlers never left the first main cave until I built vault hallways, then my scavenger started wandering down the new hall. So we might be on to somethign regarding pathing and vault rooms, but still too early and not enough testing to make it more than a myth.
The last thing this game needs is another tv bug myth, lol.
I believe nav mashes of Utility units are somehow wrong.
Specially direct shape stair way and some prefebs.