Pathfinding Modifiers

I’m aware of the API and documents regarding Pathfinding modifiers, My current method is doing as it states by having “Danger Zones” However is there anyway to just make it so instead of higher value = npc doesnt want to go near it, what if i want it so the npc only wants to go on that surface type/part with label, for example say i have a city and i have pavements, I want the npc to only walk on the pavement. Is there any way to achieve this without spamming invisible parts on areas i dont want the npc to walk on for example Pavement = -2000