Do we have any way to allow pathfinding to climb ladders?

So I am making a pathfinding bot, and the whole goal of it is to mimic players and serve as something of a skinwalker, because of this, if a player builds a ladder or really just goes up anything that is not a basic truss that registers to a humanoid as a ladder, the bot must also be able to go up it.

I’ve looked around, and all I see is “code it yourself”, this is incredibly hard for me to do, the slats of anything that registers to a humanoid as a climbable surface can be any distance apart, and I haven’t come up with a good raycasting implementation for detecting climbable surfaces.

This brings me to my question, if roblox has already implemented a way for humanoids to detect climbable surfaces in realtime, can I harness that? Is there a built-in pathfinding method for climbable surfaces, or at the very least a decently easy way to implement this kind of dynamic climbing?

I want to restate that this thing will need to climb a lot more than what i put in the games map, having scripted climbing and set objects its allowed to climb is out of the question, it must be dynamic.

PathFindingService does support climbing but it seems to only support trusses.
But can’t you just make the trusses invisible like shown in this video?
this is not dynamic though

You could try using PathfindingLink, but I have not tried them on vertical geometry. You would place one at the bottom of the ladder and one at the top.

As for “detecting” climbable surfaces, I don’t know of any other way other than casting rays against a surface and detecting the ladder-style geometry that humanoids can climb.

Yeah, I can do this for ladders Ive made, but again, ladders may be created at runtime by players via building tools Ive given them, so having it be dynamic and feel lifelike and eerie is sort of the whole goal. Thanks but I am looking for something more dynamic and reliable.