diff --git a/src/activity_item_handling.cpp b/src/activity_item_handling.cpp
index 339cf79c9accf..ead888e976ae7 100644
--- a/src/activity_item_handling.cpp
+++ b/src/activity_item_handling.cpp
@@ -671,7 +671,7 @@ std::vector<tripoint_bub_ms> route_adjacent( const Character &you, const tripoin
     const std::vector<tripoint_bub_ms> &sorted =
         get_sorted_tiles_by_distance( you.pos_bub(), passable_tiles );
 
-    const std::unordered_set<tripoint> &avoid = you.get_path_avoid();
+    const auto &avoid = you.get_path_avoid();
     for( const tripoint_bub_ms &tp : sorted ) {
         std::vector<tripoint_bub_ms> route =
             here.route( you.pos_bub(), tp, you.get_pathfinding_settings(), avoid );
@@ -745,7 +745,7 @@ static std::vector<tripoint_bub_ms> route_best_workbench(
         return best_bench_multi_a > best_bench_multi_b;
     };
     std::stable_sort( sorted.begin(), sorted.end(), cmp );
-    const std::unordered_set<tripoint> &avoid = you.get_path_avoid();
+    const auto &avoid = you.get_path_avoid();
     if( sorted.front() == you.pos_bub() ) {
         // We are on the best tile
         return {};
diff --git a/src/character.cpp b/src/character.cpp
index 55bf924cb8916..accaf32d02879 100644
--- a/src/character.cpp
+++ b/src/character.cpp
@@ -10072,18 +10072,14 @@ float Character::adjust_for_focus( float amount ) const
     return amount * ( effective_focus / 100.0f );
 }
 
-std::unordered_set<tripoint> Character::get_path_avoid() const
+std::function<bool( const tripoint & )> Character::get_path_avoid() const
 {
-    std::unordered_set<tripoint> ret;
-    for( npc &guy : g->all_npcs() ) {
-        if( sees( guy ) ) {
-            ret.insert( guy.pos() );
-        }
-    }
-
     // TODO: Add known traps in a way that doesn't destroy performance
 
-    return ret;
+    return [this]( const tripoint & p ) {
+        Creature *critter = get_creature_tracker().creature_at( p, true );
+        return critter && critter->is_npc() && this->sees( *critter );
+    };
 }
 
 const pathfinding_settings &Character::get_pathfinding_settings() const
diff --git a/src/character.h b/src/character.h
index becc00574f9a1..d5decfc01cebd 100644
--- a/src/character.h
+++ b/src/character.h
@@ -3265,7 +3265,7 @@ class Character : public Creature, public visitable
         int run_cost( int base_cost, bool diag = false ) const;
 
         const pathfinding_settings &get_pathfinding_settings() const override;
-        std::unordered_set<tripoint> get_path_avoid() const override;
+        std::function<bool( const tripoint & )> get_path_avoid() const override;
         /**
          * Get all hostile creatures currently visible to this player.
          */
diff --git a/src/creature.h b/src/creature.h
index 00f731f421498..afae45e5266a5 100644
--- a/src/creature.h
+++ b/src/creature.h
@@ -943,7 +943,7 @@ class Creature : public viewer
         /** Returns settings for pathfinding. */
         virtual const pathfinding_settings &get_pathfinding_settings() const = 0;
         /** Returns a set of points we do not want to path through. */
-        virtual std::unordered_set<tripoint> get_path_avoid() const = 0;
+        virtual std::function<bool( const tripoint & )> get_path_avoid() const = 0;
 
         bool underwater;
         void draw( const catacurses::window &w, const point_bub_ms &origin, bool inverted ) const;
diff --git a/src/game.cpp b/src/game.cpp
index 1ca52e5da2dbf..73b374381d623 100644
--- a/src/game.cpp
+++ b/src/game.cpp
@@ -4528,9 +4528,8 @@ Creature *game::is_hostile_within( int distance, bool dangerous )
                 }
 
                 const pathfinding_settings pf_settings = pathfinding_settings{ 8, distance, distance * 2, 4, true, true, false, true, false, false };
-                static const std::unordered_set<tripoint> path_avoid = {};
 
-                if( !get_map().route( u.pos(), critter->pos(), pf_settings, path_avoid ).empty() ) {
+                if( !get_map().route( u.pos(), critter->pos(), pf_settings ).empty() ) {
                     return critter;
                 }
                 continue;
@@ -7649,17 +7648,14 @@ std::optional<std::vector<tripoint_bub_ms>> game::safe_route_to( Character &who,
         }
     };
     route_t shortest_route;
-    std::unordered_set<tripoint> path_avoid;
-    for( const tripoint_bub_ms &p : points_in_radius( who.pos_bub(), 60 ) ) {
-        if( is_dangerous_tile( p.raw() ) ) {
-            path_avoid.insert( p.raw() );
-        }
-    }
     for( const tripoint_bub_ms &p : here.points_in_radius( target, threshold, 0 ) ) {
-        if( path_avoid.count( p.raw() ) > 0 ) {
-            continue; // dont route to dangerous tiles
+        if( is_dangerous_tile( p.raw() ) ) {
+            continue;
         }
-        const route_t route = here.route( who.pos_bub(), p, who.get_pathfinding_settings(), path_avoid );
+        const route_t route = here.route( who.pos_bub(), p,
+        who.get_pathfinding_settings(), [this]( const tripoint & p ) {
+            return is_dangerous_tile( p );
+        } );
         if( route.empty() ) {
             continue; // no route
         }
diff --git a/src/map.h b/src/map.h
index 0ec63e33cf12a..73ea8a9e8bc22 100644
--- a/src/map.h
+++ b/src/map.h
@@ -36,6 +36,7 @@
 #include "lightmap.h"
 #include "line.h"
 #include "lru_cache.h"
+#include "map_iterator.h"
 #include "map_selector.h"
 #include "mapdata.h"
 #include "maptile_fwd.h"
@@ -731,10 +732,14 @@ class map
         // TODO: fix point types (remove the first overload)
         std::vector<tripoint> route( const tripoint &f, const tripoint &t,
                                      const pathfinding_settings &settings,
-        const std::unordered_set<tripoint> &pre_closed = {{ }} ) const;
+        const std::function<bool( const tripoint & )> &avoid = []( const tripoint & ) {
+            return false;
+        } ) const;
         std::vector<tripoint_bub_ms> route( const tripoint_bub_ms &f, const tripoint_bub_ms &t,
                                             const pathfinding_settings &settings,
-        const std::unordered_set<tripoint> &pre_closed = {{ }} ) const;
+        const std::function<bool( const tripoint & )> &avoid = []( const tripoint & ) {
+            return false;
+        } ) const;
 
         // Get a straight route from f to t, only along non-rough terrain. Returns an empty vector
         // if that is not possible.
diff --git a/src/monmove.cpp b/src/monmove.cpp
index 9d611a84234cc..dc7a9828e126e 100644
--- a/src/monmove.cpp
+++ b/src/monmove.cpp
@@ -1011,10 +1011,7 @@ void monster::move()
                 } else {
                     path = here.straight_route( pos(), local_dest );
                     if( !path.empty() ) {
-                        std::unordered_set<tripoint> closed = get_path_avoid();
-                        if( std::any_of( path.begin(), path.end(), [&closed]( const tripoint & p ) {
-                        return closed.count( p );
-                        } ) ) {
+                        if( std::any_of( path.begin(), path.end(), get_path_avoid() ) ) {
                             path.clear();
                         }
                     }
diff --git a/src/monster.cpp b/src/monster.cpp
index 2112989db4da5..7cc9dccef194c 100644
--- a/src/monster.cpp
+++ b/src/monster.cpp
@@ -3948,33 +3948,29 @@ const pathfinding_settings &monster::get_pathfinding_settings() const
     return type->path_settings;
 }
 
-std::unordered_set<tripoint> monster::get_path_avoid() const
+std::function<bool( const tripoint & )> monster::get_path_avoid() const
 {
-    std::unordered_set<tripoint> ret;
-
-    map &here = get_map();
-    int radius = std::min( sight_range( here.ambient_light_at( pos_bub() ) ), 5 );
-
-    for( const tripoint &p : here.points_in_radius( pos(), radius ) ) {
-        if( !can_move_to( p ) ) {
-            if( bash_skill() <= 0 || !here.is_bashable( p ) ) {
-                ret.insert( p );
-            }
+    return [this]( const tripoint & p ) {
+        map &here = get_map();
+        // If we can't move there and can't bash it, don't path through it.
+        if( !can_move_to( p ) && ( bash_skill() <= 0 || !here.is_bashable( p ) ) ) {
+            return true;
         }
-    }
-
-    if( has_flag( mon_flag_PRIORITIZE_TARGETS ) ) {
-        radius = 2;
-    } else if( has_flag( mon_flag_PATH_AVOID_DANGER ) ) {
-        radius = 1;
-    } else {
-        return ret;
-    }
-    for( Creature *critter : here.get_creatures_in_radius( pos(), radius ) ) {
-        ret.insert( critter->pos() );
-    }
 
-    return ret;
+        // Avoid nearby creatures if we have the flag.
+        int radius;
+        if( has_flag( mon_flag_PRIORITIZE_TARGETS ) ) {
+            radius = 2;
+        } else if( has_flag( mon_flag_PATH_AVOID_DANGER ) ) {
+            radius = 1;
+        } else {
+            return false;
+        }
+        if( rl_dist( p, pos() ) <= radius && get_creature_tracker().creature_at( p ) ) {
+            return true;
+        }
+        return false;
+    };
 }
 
 double monster::calculate_by_enchantment( double modify, enchant_vals::mod value,
diff --git a/src/monster.h b/src/monster.h
index a4c334b18496f..fe096e1577c02 100644
--- a/src/monster.h
+++ b/src/monster.h
@@ -604,7 +604,7 @@ class monster : public Creature
         void on_load();
 
         const pathfinding_settings &get_pathfinding_settings() const override;
-        std::unordered_set<tripoint> get_path_avoid() const override;
+        std::function<bool( const tripoint & )> get_path_avoid() const override;
         double calculate_by_enchantment( double modify, enchant_vals::mod value,
                                          bool round_output = false ) const;
     private:
diff --git a/src/npc.cpp b/src/npc.cpp
index 15152a006fa0f..79fddacf97d07 100644
--- a/src/npc.cpp
+++ b/src/npc.cpp
@@ -3337,50 +3337,32 @@ const pathfinding_settings &npc::get_pathfinding_settings( bool no_bashing ) con
     return *path_settings;
 }
 
-std::unordered_set<tripoint> npc::get_path_avoid() const
+std::function<bool( const tripoint & )> npc::get_path_avoid() const
 {
-    std::unordered_set<tripoint> ret;
-    for( Creature &critter : g->all_creatures() ) {
-        // TODO: Cache this somewhere
-        ret.insert( critter.pos() );
-    }
-    map &here = get_map();
-    if( rules.has_flag( ally_rule::avoid_doors ) ) {
-        for( const tripoint &p : here.points_in_radius( pos(), 30 ) ) {
-            if( here.open_door( *this, p, true, true ) ) {
-                ret.insert( p );
-            }
+    return [this]( const tripoint & p ) {
+        if( get_creature_tracker().creature_at( p ) ) {
+            return true;
         }
-    }
-    if( rules.has_flag( ally_rule::avoid_locks ) ) {
-        for( const tripoint &p : here.points_in_radius( pos(), 30 ) ) {
-            if( doors::can_unlock_door( here, *this, tripoint_bub_ms( p ) ) ) {
-                ret.insert( p );
-            }
+        map &here = get_map();
+        if( rules.has_flag( ally_rule::avoid_doors ) && here.open_door( *this, p, true, true ) ) {
+            return true;
         }
-    }
-    if( rules.has_flag( ally_rule::hold_the_line ) ) {
-        for( const tripoint &p : here.points_in_radius( get_player_character().pos(), 1 ) ) {
-            if( here.close_door( p, true, true ) || here.move_cost( p ) > 2 ) {
-                ret.insert( p );
-            }
+        if( rules.has_flag( ally_rule::avoid_locks ) &&
+            doors::can_unlock_door( here, *this, tripoint_bub_ms( p ) ) ) {
+            return true;
+        }
+        if( rules.has_flag( ally_rule::hold_the_line ) && ( here.close_door( p, true, true ) ||
+                here.move_cost( p ) > 2 ) ) {
+            return true;
         }
-    }
-
-    for( const tripoint &p : here.points_in_radius( pos(), 6 ) ) {
         if( sees_dangerous_field( p ) ) {
-            ret.insert( p );
+            return true;
         }
-    }
-
-    // Why is this in path avoid if they can't move there at all?
-    for( const tripoint &p : here.points_in_radius( pos(), 6 ) ) {
         if( !can_move_to_vehicle_tile( here.getglobal( p ) ) ) {
-            ret.insert( p );
+            return true;
         }
-    }
-
-    return ret;
+        return false;
+    };
 }
 
 mfaction_id npc::get_monster_faction() const
diff --git a/src/npc.h b/src/npc.h
index b8a35e9961128..c087293756f31 100644
--- a/src/npc.h
+++ b/src/npc.h
@@ -1217,7 +1217,7 @@ class npc : public Character
 
         const pathfinding_settings &get_pathfinding_settings() const override;
         const pathfinding_settings &get_pathfinding_settings( bool no_bashing ) const;
-        std::unordered_set<tripoint> get_path_avoid() const override;
+        std::function<bool( const tripoint & )> get_path_avoid() const override;
 
         // Item discovery and fetching
 
diff --git a/src/pathfinding.cpp b/src/pathfinding.cpp
index dc1efcffc0382..72dfc31d3c4ec 100644
--- a/src/pathfinding.cpp
+++ b/src/pathfinding.cpp
@@ -351,7 +351,7 @@ int map::extra_cost( const tripoint &cur, const tripoint &p, const pathfinding_s
 
 std::vector<tripoint> map::route( const tripoint &f, const tripoint &t,
                                   const pathfinding_settings &settings,
-                                  const std::unordered_set<tripoint> &pre_closed ) const
+                                  const std::function<bool( const tripoint & )> &avoid ) const
 {
     /* TODO: If the origin or destination is out of bound, figure out the closest
      * in-bounds point and go to that, then to the real origin/destination.
@@ -365,16 +365,14 @@ std::vector<tripoint> map::route( const tripoint &f, const tripoint &t,
     if( !inbounds( t ) ) {
         tripoint clipped = t;
         clip_to_bounds( clipped );
-        return route( f, clipped, settings, pre_closed );
+        return route( f, clipped, settings, avoid );
     }
     // First, check for a simple straight line on flat ground
     // Except when the line contains a pre-closed tile - we need to do regular pathing then
     if( f.z == t.z ) {
         auto line_path = straight_route( f, t );
         if( !line_path.empty() ) {
-            if( std::none_of( line_path.begin(), line_path.end(), [&pre_closed]( const tripoint & p ) {
-            return pre_closed.count( p );
-            } ) ) {
+            if( std::none_of( line_path.begin(), line_path.end(), avoid ) ) {
                 return line_path;
             }
         }
@@ -394,17 +392,7 @@ std::vector<tripoint> map::route( const tripoint &f, const tripoint &t,
     clip_to_bounds( max.x, max.y, max.z );
 
     pf.reset( min.z, max.z );
-    // Make NPCs not want to path through player
-    // But don't make player pathing stop working
-    for( const tripoint &p : pre_closed ) {
-        if( p.x >= min.x && p.x < max.x && p.y >= min.y && p.y < max.y ) {
-            pf.close_point( p );
-        }
-    }
 
-    // Start and end must not be closed
-    pf.unclose_point( f );
-    pf.unclose_point( t );
     pf.add_point( 0, 0, f, f );
 
     bool done = false;
@@ -447,6 +435,11 @@ std::vector<tripoint> map::route( const tripoint &f, const tripoint &t,
                 continue;
             }
 
+            if( p != t && avoid( p ) ) {
+                layer.closed[index] = true;
+                continue;
+            }
+
             if( layer.closed[index] ) {
                 continue;
             }
@@ -613,9 +606,9 @@ std::vector<tripoint> map::route( const tripoint &f, const tripoint &t,
 
 std::vector<tripoint_bub_ms> map::route( const tripoint_bub_ms &f, const tripoint_bub_ms &t,
         const pathfinding_settings &settings,
-        const std::unordered_set<tripoint> &pre_closed ) const
+        const std::function<bool( const tripoint & )> &avoid ) const
 {
-    std::vector<tripoint> raw_result = route( f.raw(), t.raw(), settings, pre_closed );
+    std::vector<tripoint> raw_result = route( f.raw(), t.raw(), settings, avoid );
     std::vector<tripoint_bub_ms> result;
     std::transform( raw_result.begin(), raw_result.end(), std::back_inserter( result ),
     []( const tripoint & p ) {
diff --git a/tests/vehicle_fake_part_test.cpp b/tests/vehicle_fake_part_test.cpp
index 74fc761d135d6..023c0cbaba488 100644
--- a/tests/vehicle_fake_part_test.cpp
+++ b/tests/vehicle_fake_part_test.cpp
@@ -340,8 +340,7 @@ TEST_CASE( "vehicle_with_fake_obstacle_parts_block_movement", "[vehicle][vehicle
     std::vector<tripoint_bub_ms> route = here.route(
             tripoint_bub_ms( test_origin - point( 2, 0 ) ),
             tripoint_bub_ms( test_origin + point( 2, 0 ) ),
-            you.get_pathfinding_settings(),
-            {} );
+            you.get_pathfinding_settings() );
     REQUIRE( !route.empty() );
     CAPTURE( route );
     REQUIRE( route.size() == 7 );