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Just click the little radar at the lower left then select from the tool bar that pops up at the top.
100% THIS! I had sand cats escaping THROUGH A WALL for no reason. The heat map read the escape point though, so I put a rock there until the heat map no longer showed it.
There are, however, sometimes issues with using construction pieces to make a barrier where it DOESN'T read the escape point, but it will show you the animal can go through it. Rocks are your friend!