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Actually you should. If the AI loses all its abilities to scale or break your walls they tend to withdraw.
If the AI bugs out it's usually due to too many units trying to use the same section of wall at the same time. Let them in through the gate and you lessen that possibility.
A single stack of 30 well armoured knights can prevent several ladders siege towers and rams from even making it to your wall. Also they are essential to rush any sort of artillery, as this will break the attack plan of the ai and they usually start going crazy and panic if you rush their trebuches or catapults whatever.
I enjoy that alot tbh in defence and like sending a powerful general out to do this duty and get him back within the walls to safety after the job is done.
Also sometimes will allow the enemy to get one siege tower to the walls because it will funnel their whole army into a meatgrinder that i can easily set up in time wherever they choose to attack from.
The main reason the Ai bugs out during an offensive siege is because the player sallied out and the AI for some reason can't respond to it.
Most likely because the AI can't differentiate between siege and field maps which then locks their pathfinding for some reason. Destroying their siege equipment (artillery, ladders, rams, towers) will force their defeat.
Yes, you can attack ladders, rams and siege towers with your infantry and destroy them.
None will damage my pretty pretty walls!!