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If I'm annoyed by a NPC standing on a table or chair, or sitting on thin air while the chair is just beyond their position, I might use the 'resetai' console command (open console, select NPC, type command, press enter, and close console). This causes them to rethink their life and move back into the correct position.
Good to know its not caused by a mod especially since the only mod in my modlist that can affect npcs is Ai Overhaul SSE.
https://www.nexusmods.com/skyrimspecialedition/mods/84160
EDIT: The command doesn't cause any additional issues with mods. If you are unsure with a quest NPC, save prior and use the command.
Thanks for the mod suggestion. I might actually download that as its something that annoys me as well
One last question
Do you think installing xpmse and running nemesis could potentially fix this bug though?
I can't say for certain if an animation framework mod can help as it is a base AI pathing issue.