Trying to make pathfinding based baldi NPC, how would i do this?

Okay, so i have a sample NPC, just need pathfinding. ive used a template in the past but the type of pathfinding i want is like this for example, Baldi walks in the middle between walls during waypoints. i tried to make a edit of my template pathfinding to make it do that but it failed horribly, if anyone can help me out on this please do, thank you. (also heres the pathfinding script btw)

--DuruTeru
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local SearchDistance =  10000   -- How far a player can be before it detects you

local ZombieDamage =    25      -- How much damage the Zombie inficts towards the player
local DamageWait =      2       -- How many seconds to wait before it can damage the player again

local WanderX, WanderZ = 30, 30
--  How many studs the zombie can wander on the x and z axis in studs ; 0, 0 to stay still

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function getHumanoid(model)
    for _, v in pairs(model:GetChildren())do
        if v:IsA'Humanoid' then
            return v
        end
    end
end


local zombie = script.Parent
local human = getHumanoid(zombie)
local hroot = zombie.HumanoidRootPart
local zspeed = hroot.Velocity.magnitude
local head = zombie:FindFirstChild'Head'
local vars = script.vars

local pfs = game:GetService("PathfindingService")
local players = game:GetService('Players')

-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --

local path
local waypoint

local chaseName = nil

function GetTorso(part)
    local chars = game.Workspace:GetChildren()
    local chaseRoot = nil
    local chaseTorso = nil
    local chasePlr = nil
    local chaseHuman = nil
    local mag = SearchDistance
    for i = 1, #chars do
        chasePlr = chars[i]
        if chasePlr:IsA'Model' and chasePlr ~= zombie then
            chaseHuman = getHumanoid(chasePlr)
            chaseRoot = chasePlr:FindFirstChild'HumanoidRootPart'
            if chaseRoot ~= nil and chaseHuman ~= nil and chaseHuman.Health > 0 and chaseHuman.Name ~= "Zombie" then
                if (chaseRoot.Position - part).magnitude < mag then
                    chaseName = chasePlr.Name
                    chaseTorso = chaseRoot
                    mag = (chaseRoot.Position - part).magnitude
                end
            end
        end
    end
    return chaseTorso
end

function GetPlayersBodyParts(t)
    local torso = t
    if torso then
        local figure = torso.Parent
        for _, v in pairs(figure:GetChildren())do
            if v:IsA'Part' then
                return v.Name
            end
        end
    else
        return "HumanoidRootPart"
    end
end

-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --

local damagetime
local damagedb = false

for _, zambieparts in pairs(zombie:GetChildren())do
    if zambieparts:IsA'Part' and human.Health > 0 then
        zambieparts.Touched:connect(function(p)
            if p.Parent.Name == chaseName and p.Parent.Name ~= zombie.Name and not damagedb then -- damage
                damagedb = true
                damagetime = time()
                local enemy = p.Parent
                local enemyhuman = getHumanoid(enemy)
                vars.Attacking.Value = true
                enemyhuman:TakeDamage(ZombieDamage)
                vars.Attacking.Value = false
                while wait() do
                    if damagetime ~= nil and time() >= (damagetime + DamageWait) then
                        damagedb = false
                        damagetime = nil
                    end
                end
            end
        end)
    end
end

-- wandering 
spawn(function()
    while vars.Wandering.Value == false and human.Health > 0 do 
        vars.Chasing.Value = false  
        vars.Wandering.Value = true
        local desgx, desgz = hroot.Position.x+math.random(-WanderX,WanderX), hroot.Position.z+math.random(-WanderZ,WanderZ)
        local function checkw(t)
            local ci = 3
            if ci > #t then
                ci = 3
            end
            if t[ci] == nil and ci < #t then
                repeat ci = ci + 1 wait() until t[ci] ~= nil
                return Vector3.new(1,0,0) + t[ci]
            else
                ci = 3
                return t[ci]
            end
        end

        path = pfs:FindPathAsync(hroot.Position, Vector3.new(desgx, 0, desgz))
        waypoint = path:GetWaypoints()
        local connection;

        local direct = Vector3.FromNormalId(Enum.NormalId.Front)
        local ncf = hroot.CFrame * CFrame.new(direct)
        direct = ncf.p.unit
        local rootr = Ray.new(hroot.Position, direct)
        local phit, ppos = game.Workspace:FindPartOnRay(rootr, hroot)

        if path and waypoint or checkw(waypoint) then
            if checkw(waypoint) ~= nil and checkw(waypoint).Action == Enum.PathWaypointAction.Walk then
                human:MoveTo( checkw(waypoint).Position )
                human.Jump = false
            end

            if checkw(waypoint) ~= nil and checkw(waypoint).Action == Enum.PathWaypointAction.Jump then
                connection = human.Changed:connect(function()
                    human.Jump = true
                end)
                human:MoveTo( waypoint[4].Position )
            else
                human.Jump = false
            end

            if connection then
                connection:Disconnect()
            end

        else
            for i = 3, #waypoint do
                human:MoveTo( waypoint[i].Position )    
            end
        end
        wait(math.random(4,6))
        vars.Wandering.Value = false
    end
end)

-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --

while wait() do
    local nrstt = GetTorso(hroot.Position)
    if nrstt ~= nil and human.Health > 0 then -- if player detected 
        vars.Wandering.Value = false
        vars.Chasing.Value = true
        local function checkw(t)
            local ci = 3
            if ci > #t then
                ci = 3
            end
            if t[ci] == nil and ci < #t then
                repeat ci = ci + 1 wait() until t[ci] ~= nil
                return Vector3.new(1,0,0) + t[ci]
            else
                ci = 3
                return t[ci]
            end
        end

        path = pfs:FindPathAsync(hroot.Position, nrstt.Position)
        waypoint = path:GetWaypoints()
        local connection;

        local direct = Vector3.FromNormalId(Enum.NormalId.Front)
        local ncf = hroot.CFrame * CFrame.new(direct)
        direct = ncf.p.unit
        local rootr = Ray.new(hroot.Position, direct)
        local phit, ppos = game.Workspace:FindPartOnRay(rootr, hroot)

        if path and waypoint or checkw(waypoint) then
            if checkw(waypoint) ~= nil and checkw(waypoint).Action == Enum.PathWaypointAction.Walk then
                human:MoveTo( checkw(waypoint).Position )
                human.Jump = false
            end

            if checkw(waypoint) ~= nil and checkw(waypoint).Action == Enum.PathWaypointAction.Jump then
                connection = human.Changed:connect(function()
                    human.Jump = true
                end)
                human:MoveTo( waypoint[4].Position )
            else
                human.Jump = false
            end

            hroot.Touched:connect(function(p)
                local bodypartnames = GetPlayersBodyParts(nrstt)
                if p:IsA'Part' and not p.Name == bodypartnames and phit and phit.Name ~= bodypartnames and phit:IsA'Part' and rootr:Distance(phit.Position) < 5 then
                    connection = human.Changed:connect(function()
                        human.Jump = true
                    end)
                else
                    human.Jump = false
                end
            end)

            if connection then
                connection:Disconnect()
            end

        else
            for i = 3, #waypoint do
                human:MoveTo( waypoint[i].Position )    
            end
        end
        path = nil
        waypoint = nil
    elseif nrstt == nil then -- if player not detected
        vars.Wandering.Value = false
        vars.Chasing.Value = false
        CchaseName = nil
        path = nil
        waypoint = nil
        human.MoveToFinished:Wait()
    end
end

-- Base script for NPC enemy movement,
-- still a work in progress
end