I wrote 3 months ago about how this is a particularly hard problem to solve.

For whatever reason I've been possessed to actually try implementing this over the last few days and I finally have something to show for it.

Here, the enemy has a teleport that has just enough range to cross the water and it has a long cooldown. Therefore the highest value path is to walk to the edge first, then teleport across to attack.

This is a dynamic use of the actor's abilities with no scripting!

Enemies are using abilities for the first time!