diff --git a/apps/opencs/view/render/commands.cpp b/apps/opencs/view/render/commands.cpp
index 7b3760296..699bf5d01 100644
--- a/apps/opencs/view/render/commands.cpp
+++ b/apps/opencs/view/render/commands.cpp
@@ -1,19 +1,44 @@
 #include "commands.hpp"
 
+#include <QPointer>
+
+#include <components/debug/debuglog.hpp>
 #include <components/esm/loadland.hpp>
 
+#include "editmode.hpp"
 #include "terrainselection.hpp"
+#include "terrainshapemode.hpp"
+#include "terraintexturemode.hpp"
+#include "worldspacewidget.hpp"
 
-CSVRender::DrawTerrainSelectionCommand::DrawTerrainSelectionCommand(TerrainSelection& terrainSelection, QUndoCommand* parent)
-    : mTerrainSelection(terrainSelection)
+CSVRender::DrawTerrainSelectionCommand::DrawTerrainSelectionCommand(WorldspaceWidget* worldspaceWidget, QUndoCommand* parent)
+    : mWorldspaceWidget(worldspaceWidget)
 { }
 
 void CSVRender::DrawTerrainSelectionCommand::redo()
 {
-    mTerrainSelection.update();
+    tryUpdate();
 }
 
 void CSVRender::DrawTerrainSelectionCommand::undo()
 {
-    mTerrainSelection.update();
+    tryUpdate();
+}
+
+void CSVRender::DrawTerrainSelectionCommand::tryUpdate()
+{
+    if (!mWorldspaceWidget)
+    {
+        Log(Debug::Verbose) << "Can't update terrain selection, no WorldspaceWidget found!";
+        return;
+    }
+
+    auto terrainMode = dynamic_cast<CSVRender::TerrainShapeMode*>(mWorldspaceWidget->getEditMode());
+    if (!terrainMode)
+    {
+        Log(Debug::Verbose) << "Can't update terrain selection in current EditMode";
+        return;
+    }
+
+    terrainMode->getTerrainSelection()->update();
 }
diff --git a/apps/opencs/view/render/commands.hpp b/apps/opencs/view/render/commands.hpp
index cdc389e33..62b7fbfdc 100644
--- a/apps/opencs/view/render/commands.hpp
+++ b/apps/opencs/view/render/commands.hpp
@@ -1,8 +1,12 @@
 #ifndef CSV_RENDER_COMMANDS_HPP
 #define CSV_RENDER_COMMANDS_HPP
 
+#include <QPointer>
+
 #include <QUndoCommand>
 
+#include "worldspacewidget.hpp"
+
 namespace CSVRender
 {
     class TerrainSelection;
@@ -21,14 +25,17 @@ namespace CSVRender
     */
     class DrawTerrainSelectionCommand : public QUndoCommand
     {
+
     private:
-        TerrainSelection& mTerrainSelection;
+        QPointer<WorldspaceWidget> mWorldspaceWidget;
 
     public:
-        DrawTerrainSelectionCommand(TerrainSelection& terrainSelection, QUndoCommand* parent = nullptr);
+        DrawTerrainSelectionCommand(WorldspaceWidget* worldspaceWidget, QUndoCommand* parent = nullptr);
 
         void redo() override;
         void undo() override;
+
+        void tryUpdate();
     };
 }
 
diff --git a/apps/opencs/view/render/terrainshapemode.cpp b/apps/opencs/view/render/terrainshapemode.cpp
index 866ff69cd..050494495 100644
--- a/apps/opencs/view/render/terrainshapemode.cpp
+++ b/apps/opencs/view/render/terrainshapemode.cpp
@@ -287,7 +287,7 @@ void CSVRender::TerrainShapeMode::applyTerrainEditChanges()
     undoStack.beginMacro ("Edit shape and normal records");
 
     // One command at the beginning of the macro for redrawing the terrain-selection grid when undoing the changes.
-    undoStack.push(new DrawTerrainSelectionCommand(*mTerrainShapeSelection));
+    undoStack.push(new DrawTerrainSelectionCommand(&getWorldspaceWidget()));
 
     for(CSMWorld::CellCoordinates cellCoordinates: mAlteredCells)
     {
@@ -358,7 +358,7 @@ void CSVRender::TerrainShapeMode::applyTerrainEditChanges()
         pushNormalsEditToCommand(landNormalsNew, document, landTable, cellId);
     }
     // One command at the end of the macro for redrawing the terrain-selection grid when redoing the changes.
-    undoStack.push(new DrawTerrainSelectionCommand(*mTerrainShapeSelection));
+    undoStack.push(new DrawTerrainSelectionCommand(&getWorldspaceWidget()));
 
     undoStack.endMacro();
     clearTransientEdits();
@@ -1049,7 +1049,7 @@ void CSVRender::TerrainShapeMode::handleSelection(int globalSelectionX, int glob
         */
         if (xIsAtCellBorder && yIsAtCellBorder)
         {
-            /* 
+            /*
                 Handle the NW, NE, and SE corner vertices.
                 NW corner: (+1, -1) offset to reach current cell.
                 NE corner: (-1, -1) offset to reach current cell.
@@ -1132,7 +1132,7 @@ void CSVRender::TerrainShapeMode::selectTerrainShapes(const std::pair<int, int>&
         selectAction = CSMPrefs::get()["3D Scene Editing"]["primary-select-action"].toString();
     else
         selectAction = CSMPrefs::get()["3D Scene Editing"]["secondary-select-action"].toString();
-        
+
     if (selectAction == "Select only")
         mTerrainShapeSelection->onlySelect(selections);
     else if (selectAction == "Add to selection")
@@ -1444,6 +1444,11 @@ void CSVRender::TerrainShapeMode::mouseMoveEvent (QMouseEvent *event)
         mBrushDraw->hide();
 }
 
+std::shared_ptr<CSVRender::TerrainSelection> CSVRender::TerrainShapeMode::getTerrainSelection()
+{
+    return mTerrainShapeSelection;
+}
+
 void CSVRender::TerrainShapeMode::setBrushSize(int brushSize)
 {
     mBrushSize = brushSize;
diff --git a/apps/opencs/view/render/terrainshapemode.hpp b/apps/opencs/view/render/terrainshapemode.hpp
index a88e60c9c..abc4b8aba 100644
--- a/apps/opencs/view/render/terrainshapemode.hpp
+++ b/apps/opencs/view/render/terrainshapemode.hpp
@@ -92,6 +92,8 @@ namespace CSVRender
             void dragMoveEvent (QDragMoveEvent *event) override;
             void mouseMoveEvent (QMouseEvent *event) override;
 
+            std::shared_ptr<TerrainSelection> getTerrainSelection();
+
         private:
 
             /// Remove duplicates and sort mAlteredCells, then limitAlteredHeights forward and reverse
@@ -176,7 +178,7 @@ namespace CSVRender
             int mDragMode = InteractionType_None;
             osg::Group* mParentNode;
             bool mIsEditing = false;
-            std::unique_ptr<TerrainSelection> mTerrainShapeSelection;
+            std::shared_ptr<TerrainSelection> mTerrainShapeSelection;
             int mTotalDiffY = 0;
             std::vector<CSMWorld::CellCoordinates> mAlteredCells;
             osg::Vec3d mEditingPos;
diff --git a/apps/opencs/view/render/terraintexturemode.cpp b/apps/opencs/view/render/terraintexturemode.cpp
index 4e267e942..dfcc29ae0 100644
--- a/apps/opencs/view/render/terraintexturemode.cpp
+++ b/apps/opencs/view/render/terraintexturemode.cpp
@@ -712,6 +712,11 @@ void CSVRender::TerrainTextureMode::mouseMoveEvent (QMouseEvent *event)
         mBrushDraw->hide();
 }
 
+std::shared_ptr<CSVRender::TerrainSelection> CSVRender::TerrainTextureMode::getTerrainSelection()
+{
+    return mTerrainTextureSelection;
+}
+
 
 void CSVRender::TerrainTextureMode::setBrushSize(int brushSize)
 {
diff --git a/apps/opencs/view/render/terraintexturemode.hpp b/apps/opencs/view/render/terraintexturemode.hpp
index 31932df21..e0c6e4b40 100644
--- a/apps/opencs/view/render/terraintexturemode.hpp
+++ b/apps/opencs/view/render/terraintexturemode.hpp
@@ -85,6 +85,8 @@ namespace CSVRender
 
             void mouseMoveEvent (QMouseEvent *event) override;
 
+            std::shared_ptr<TerrainSelection> getTerrainSelection();
+
         private:
             /// \brief Handle brush mechanics, maths regarding worldspace hit etc.
             void editTerrainTextureGrid (const WorldspaceHitResult& hit);
@@ -115,7 +117,7 @@ namespace CSVRender
             int mDragMode;
             osg::Group* mParentNode;
             bool mIsEditing;
-            std::unique_ptr<TerrainSelection> mTerrainTextureSelection;
+            std::shared_ptr<TerrainSelection> mTerrainTextureSelection;
 
             const int cellSize {ESM::Land::REAL_SIZE};
             const int landTextureSize {ESM::Land::LAND_TEXTURE_SIZE};
diff --git a/apps/opencs/view/render/worldspacewidget.cpp b/apps/opencs/view/render/worldspacewidget.cpp
index 723ffcb6a..2ebc083f2 100644
--- a/apps/opencs/view/render/worldspacewidget.cpp
+++ b/apps/opencs/view/render/worldspacewidget.cpp
@@ -452,6 +452,11 @@ CSVRender::WorldspaceHitResult CSVRender::WorldspaceWidget::mousePick (const QPo
     return hit;
 }
 
+CSVRender::EditMode *CSVRender::WorldspaceWidget::getEditMode()
+{
+    return dynamic_cast<CSVRender::EditMode *> (mEditMode->getCurrent());
+}
+
 void CSVRender::WorldspaceWidget::abortDrag()
 {
     if (mDragging)
@@ -697,11 +702,6 @@ void CSVRender::WorldspaceWidget::handleInteractionPress (const WorldspaceHitRes
         editMode.primaryOpenPressed (hit);
 }
 
-CSVRender::EditMode *CSVRender::WorldspaceWidget::getEditMode()
-{
-    return dynamic_cast<CSVRender::EditMode *> (mEditMode->getCurrent());
-}
-
 void CSVRender::WorldspaceWidget::primaryOpen(bool activate)
 {
     handleInteraction(InteractionType_PrimaryOpen, activate);
diff --git a/apps/opencs/view/render/worldspacewidget.hpp b/apps/opencs/view/render/worldspacewidget.hpp
index 5e224b380..cf244ce71 100644
--- a/apps/opencs/view/render/worldspacewidget.hpp
+++ b/apps/opencs/view/render/worldspacewidget.hpp
@@ -189,6 +189,8 @@ namespace CSVRender
             /// Erase all overrides and restore the visual representation to its true state.
             virtual void reset (unsigned int elementMask) = 0;
 
+            EditMode *getEditMode();
+
         protected:
 
             /// Visual elements in a scene
@@ -215,8 +217,6 @@ namespace CSVRender
 
             void settingChanged (const CSMPrefs::Setting *setting) override;
 
-            EditMode *getEditMode();
-
             bool getSpeedMode();
 
         private:
diff --git a/apps/openmw/mwmechanics/actors.cpp b/apps/openmw/mwmechanics/actors.cpp
index 05047336e..6d77b67d3 100644
--- a/apps/openmw/mwmechanics/actors.cpp
+++ b/apps/openmw/mwmechanics/actors.cpp
@@ -1931,6 +1931,7 @@ namespace MWMechanics
             // Standing NPCs give way to moving ones if they are not in combat (or pursue) mode and either
             // follow player or have a AIWander package with non-empty wander area.
             bool shouldAvoidCollision = isMoving;
+            bool shouldGiveWay = false;
             bool shouldTurnToApproachingActor = !isMoving;
             MWWorld::Ptr currentTarget; // Combat or pursue target (NPCs should not avoid collision with their targets).
             const auto& aiSequence = ptr.getClass().getCreatureStats(ptr).getAiSequence();
@@ -1941,7 +1942,7 @@ namespace MWMechanics
                 else if (package->getTypeId() == AiPackageTypeId::Wander && giveWayWhenIdle)
                 {
                     if (!static_cast<const AiWander*>(package.get())->isStationary())
-                        shouldAvoidCollision = true;
+                        shouldGiveWay = true;
                 }
                 else if (package->getTypeId() == AiPackageTypeId::Combat || package->getTypeId() == AiPackageTypeId::Pursue)
                 {
@@ -1951,7 +1952,7 @@ namespace MWMechanics
                     break;
                 }
             }
-            if (!shouldAvoidCollision)
+            if (!shouldAvoidCollision && !shouldGiveWay)
                 continue;
 
             osg::Vec2f baseSpeed = origMovement * maxSpeed;
@@ -1960,14 +1961,14 @@ namespace MWMechanics
             osg::Vec3f halfExtents = world->getHalfExtents(ptr);
             float maxDistToCheck = isMoving ? maxDistForPartialAvoiding : maxDistForStrictAvoiding;
 
-            float timeToCollision = maxTimeToCheck;
+            float timeToCheck = maxTimeToCheck;
+            if (!shouldGiveWay && !aiSequence.isEmpty())
+                timeToCheck = std::min(timeToCheck, getTimeToDestination(**aiSequence.begin(), basePos, maxSpeed, duration, halfExtents));
+
+            float timeToCollision = timeToCheck;
             osg::Vec2f movementCorrection(0, 0);
             float angleToApproachingActor = 0;
 
-            const float timeToDestination = aiSequence.isEmpty()
-                    ? std::numeric_limits<float>::max()
-                    : getTimeToDestination(**aiSequence.begin(), basePos, maxSpeed, duration, halfExtents);
-
             // Iterate through all other actors and predict collisions.
             for(PtrActorMap::iterator otherIter(mActors.begin()); otherIter != mActors.end(); ++otherIter)
             {
@@ -2004,7 +2005,7 @@ namespace MWMechanics
                     continue; // No solution; distance is always >= collisionDist.
                 float t = (-vr - std::sqrt(Dh)) / v2;
 
-                if (t < 0 || t > timeToCollision || t > timeToDestination)
+                if (t < 0 || t > timeToCollision)
                     continue;
 
                 // Check visibility and awareness last as it's expensive.
@@ -2024,7 +2025,7 @@ namespace MWMechanics
                     movementCorrection.y() *= 0.5f;
             }
 
-            if (timeToCollision < maxTimeToCheck)
+            if (timeToCollision < timeToCheck)
             {
                 // Try to evade the nearest collision.
                 osg::Vec2f newMovement = origMovement + movementCorrection;
diff --git a/apps/openmw/mwmechanics/aicombat.cpp b/apps/openmw/mwmechanics/aicombat.cpp
index c57530665..18003e818 100644
--- a/apps/openmw/mwmechanics/aicombat.cpp
+++ b/apps/openmw/mwmechanics/aicombat.cpp
@@ -414,7 +414,7 @@ namespace MWMechanics
 
                         bool runFallback = true;
 
-                        if (pathgrid && !actor.getClass().isPureWaterCreature(actor))
+                        if (pathgrid != nullptr && !pathgrid->mPoints.empty() && !actor.getClass().isPureWaterCreature(actor))
                         {
                             ESM::Pathgrid::PointList points;
                             Misc::CoordinateConverter coords(storage.mCell->getCell());
diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp
index 0e424b2f8..175836b11 100644
--- a/apps/openmw/mwmechanics/aiwander.cpp
+++ b/apps/openmw/mwmechanics/aiwander.cpp
@@ -754,6 +754,9 @@ namespace MWMechanics
         const ESM::Pathgrid *pathgrid =
             MWBase::Environment::get().getWorld()->getStore().get<ESM::Pathgrid>().search(*currentCell->getCell());
 
+        if (pathgrid == nullptr || pathgrid->mPoints.empty())
+            return;
+
         int index = PathFinder::getClosestPoint(pathgrid, PathFinder::makeOsgVec3(dest));
 
         getPathGridGraph(currentCell).getNeighbouringPoints(index, points);
diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp
index 2f8e83043..0e704cd46 100644
--- a/apps/openmw/mwmechanics/pathfinding.cpp
+++ b/apps/openmw/mwmechanics/pathfinding.cpp
@@ -206,9 +206,6 @@ namespace MWMechanics
             endPointInLocalCoords,
                 startNode);
 
-        if (!endNode.second)
-            return;
-
         // if it's shorter for actor to travel from start to end, than to travel from either
         // start or end to nearest pathgrid point, just travel from start to end.
         float startToEndLength2 = (endPointInLocalCoords - startPointInLocalCoords).length2();
@@ -279,7 +276,8 @@ namespace MWMechanics
         // unreachable pathgrid point.
         //
         // The AI routines will have to deal with such situations.
-        *out++ = endPoint;
+        if (endNode.second)
+            *out++ = endPoint;
     }
 
     float PathFinder::getZAngleToNext(float x, float y) const