How to make good pathfinding

for example i want my npc to do parkour like towerof hell it would always take the long path instead of climbing up the ladder I try to remove the path and it cant even climb up the ladder how do I detect a ladder and make it climb remember that it wont be simple as putting all the ladder in one folder bc some parkour also have ladder even with truss the roblox pathfinding cant even detect it when it not on the ground