Also watching more of the vod (I'm typing these as I watch so I don't forget). The pathfinder menu visuals assumes that you can't see. You CAN pathfind to everything in the plaza, it's just that the tabs go "offscreen". The reason the order changes depending on where you are in the town is that it orders the entities based on closest to farthest.
In any given "screen" every single thing that can be interacted (including doors and exits) with can be pathfinded to. Again it's just that most of the tabs go offscreen.