Need help with custom AI

Hello guys, I’m trying to make an AI for my project, npcs and players are able to jump over the desks but I can’t really figure out how can I make a path like green line. I need it to be dynamic so I can’t really use pathfinding so much because it will affect performance. Also if there was no wall, npc should go directly to the player as it would be faster. What are your suggestions?

For anyone that had the same issue that I had, check out pathfinding links and pathfinding modifiers! They literally saved my life.

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