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It seems unlikely to be caused by a mod, so perhaps you could try using a mod to fix? You'll probably want to get this at some stage anyway.
https://steamcommunity.com/sharedfiles/filedetails/?id=2607562264
Yeah, Arena AI can be a little wonky
Ah, I should add that this mod https://steamcommunity.com/sharedfiles/filedetails/?id=3238658385&searchtext= might alleviate some of your issues, OP. Forcing smaller map sizes in particular seems to help.
Also that is ONLY on them infiltration missions, nowhere else. PLUS: It makes sense for the foes tht did not know your there to stand around, its called GUARDING