To keep units moving in a cluttered battlefield treat the map as a weighted graph. Assign each cell a traversal cost that rises with obstacle density. Use A* or D* on that graph, updating the path each time a new obstacle appears. Smooth the resulting waypoints with a simple curve like a Bézier to avoid jitter. Keep a velocity buffer so a unit doesn’t stop on every corner, and run a global priority queue so fast units can bypass slower ones without clogging the path. That gives a steady, efficient flow even in a mess.

Got it, no excuses. Stick to the priority queue, keep the cost map fresh, and don’t let slow units override the fast ones. That’s the clean path to efficiency.