A testing time
One of the focuses from my time working on the code base was making sure that I could properly debug it when things went wrong or "unexpected", which happened a surprising amount of times.
Using the integration test runner inside Unity Test Tools I started creating tests around things like how to path find, the room creation system, how pathfinding works with the rooms, and how to find available cover. For instance, the following shows how to find your way from one point to another, around a wall:
This allows me to replay the pathfinder at any speed I want, replicating any part of the game world, to reproduce and fix any issues that occur. Over time, as I encounter more issues and resolve them, I eventually end up with a comprehensively-tested, and working, system.