Here are some changes I made to the AI using Character Integration.

However, you probably can skip the node on fail, because this seems to not work as intended. With Character Interaction it also dependents on how your AI responds, ie. sometimes they may skip follow due to base paramter settings, if to follow/pursue target.

Additional changes include the usage of a dynamic nav mesh, mainly due to changes of opened/closed doors. Tweaking often is done through modifying MoveTo’s acceptance radius.

Pathing examples