Hey sorry it has been a while, but really love the progress you have made on your system! 
Also congrats on becoming ‘Elite’ with your 1000th post! 
Have you done any analysis on the performance difference between using the nav system and your implementation, with your code only I mean, not slowing it down for so you can see how the AI is deciding it’s path (I think I read you had to slow it down for showing in video a while ago, correct me if I am wrong though)? If you are able to compare it, your system may be too advanced for a real comparison!
Looking good, keep us updated! 