Hey, Goshi,
This is A LOT.
You should keep questions simple because very rarely will people rewrite code for you. It certainly does happen, but usually it’s when the person has little to no code to begin with.
Start with this:
I’ve personally had issues with GET_RANDOM_REACHABLE_POINT_IN_RADIUS and GET_RANDOM_LOCATION_IN_NAVICABLE_RADIUS. I find that one or the other works, depending on the situation.
I would attempt converting all of your vector patrol nodes to one or the other, testing them both to see which is more responsive.