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You can use Ctrl+Shift+F11 every now and then as you're moving around (particularly in areas like the Swamps where there's a *lot* of potential rocks, trees, etc. blocking direct paths). This will regenerate the various paths you can take.
For long journeys, it's typically recommended to stick to roads as they already have some of the best pathing possible, while also having increased dangers. (If you travel off of the roads, it's typically safer but requires more attention to make sure you don't get ambushed, etc).
If you're having issues with pathing, just spam Ctrl+Shift+F11 a couple of times and it'll fix it a majority of the time.
I suppose it also depends on how many people you have in your party, I tend to play with around ~10 or so people and never really have too much issues. If you're moving in a huge army or something, the calculations for pathing become much more complex if everyone is following you around.