diff --git a/CHANGELOG.md b/CHANGELOG.md
index d5b62bf1a..83682c507 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -30,6 +30,7 @@
     Bug #4125: OpenMW logo cropped on bugtracker
     Bug #4215: OpenMW shows book text after last EOL tag
     Bug #4221: Characters get stuck in V-shaped terrain
+    Bug #4230: AiTravel package issues break some Tribunal quests
     Bug #4251: Stationary NPCs do not return to their position after combat
     Bug #4274: Pre-0.43 death animations are not forward-compatible with 0.43+
     Bug #4286: Scripted animations can be interrupted
diff --git a/apps/openmw/mwbase/world.hpp b/apps/openmw/mwbase/world.hpp
index 97993e984..a88616625 100644
--- a/apps/openmw/mwbase/world.hpp
+++ b/apps/openmw/mwbase/world.hpp
@@ -297,7 +297,7 @@ namespace MWBase
             ///< Queues movement for \a ptr (in local space), to be applied in the next call to
             /// doPhysics.
 
-            virtual bool castRay (float x1, float y1, float z1, float x2, float y2, float z2) = 0;
+            virtual bool castRay (float x1, float y1, float z1, float x2, float y2, float z2, bool ignoreDoors=false) = 0;
             ///< cast a Ray and return true if there is an object in the ray path.
 
             virtual bool toggleCollisionMode() = 0;
diff --git a/apps/openmw/mwmechanics/aitravel.cpp b/apps/openmw/mwmechanics/aitravel.cpp
index 72e6ced19..8b52b15a4 100644
--- a/apps/openmw/mwmechanics/aitravel.cpp
+++ b/apps/openmw/mwmechanics/aitravel.cpp
@@ -53,7 +53,23 @@ namespace MWMechanics
         if (!isWithinMaxRange(osg::Vec3f(mX, mY, mZ), pos.asVec3()))
             return false;
 
-        if (pathTo(actor, ESM::Pathgrid::Point(static_cast<int>(mX), static_cast<int>(mY), static_cast<int>(mZ)), duration))
+        // Unfortunately, with vanilla assets destination is sometimes blocked by other actor.
+        // If we got close to target, check for actors nearby. If they are, finish AI package.
+        int destinationTolerance = 64;
+        ESM::Pathgrid::Point dest(static_cast<int>(mX), static_cast<int>(mY), static_cast<int>(mZ));
+        if (distance(pos.pos, dest) <= destinationTolerance)
+        {
+            std::vector<MWWorld::Ptr> targetActors;
+            std::pair<MWWorld::Ptr, osg::Vec3f> result = MWBase::Environment::get().getWorld()->getHitContact(actor, destinationTolerance, targetActors);
+
+            if (!result.first.isEmpty())
+            {
+                actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
+                return true;
+            }
+        }
+
+        if (pathTo(actor, dest, duration))
         {
             actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
             return true;
diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp
index 0591667b7..b1b04f304 100644
--- a/apps/openmw/mwmechanics/pathfinding.cpp
+++ b/apps/openmw/mwmechanics/pathfinding.cpp
@@ -231,6 +231,28 @@ namespace MWMechanics
         {
             mPath = pathgridGraph.aStarSearch(startNode, endNode.first);
 
+            // If nearest path node is in opposite direction from second, remove it from path.
+            // Especially useful for wandering actors, if the nearest node is blocked for some reason.
+            if (mPath.size() > 1)
+            {
+                ESM::Pathgrid::Point secondNode = *(++mPath.begin());
+                osg::Vec3f firstNodeVec3f = MakeOsgVec3(mPathgrid->mPoints[startNode]);
+                osg::Vec3f secondNodeVec3f = MakeOsgVec3(secondNode);
+                osg::Vec3f toSecondNodeVec3f = secondNodeVec3f - firstNodeVec3f;
+                osg::Vec3f toStartPointVec3f = startPointInLocalCoords - firstNodeVec3f;
+                if (toSecondNodeVec3f * toStartPointVec3f > 0)
+                {
+                    ESM::Pathgrid::Point temp(secondNode);
+                    converter.toWorld(temp);
+                    // Add Z offset since path node can overlap with other objects.
+                    // Also ignore doors in raytesting.
+                    bool isPathClear = !MWBase::Environment::get().getWorld()->castRay(
+                        startPoint.mX, startPoint.mY, startPoint.mZ+16, temp.mX, temp.mY, temp.mZ+16, true);
+                    if (isPathClear)
+                        mPath.pop_front();
+                }
+            }
+
             // convert supplied path to world coordinates
             for (std::list<ESM::Pathgrid::Point>::iterator iter(mPath.begin()); iter != mPath.end(); ++iter)
             {
diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp
index 66eee963d..c162fd57d 100644
--- a/apps/openmw/mwworld/worldimp.cpp
+++ b/apps/openmw/mwworld/worldimp.cpp
@@ -1471,12 +1471,16 @@ namespace MWWorld
             moveObjectImp(player->first, player->second.x(), player->second.y(), player->second.z(), false);
     }
 
-    bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2)
+    bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2, bool ignoreDoors)
     {
         osg::Vec3f a(x1,y1,z1);
         osg::Vec3f b(x2,y2,z2);
 
-        MWPhysics::PhysicsSystem::RayResult result = mPhysics->castRay(a, b, MWWorld::Ptr(), std::vector<MWWorld::Ptr>(), MWPhysics::CollisionType_World|MWPhysics::CollisionType_Door);
+        int mask = MWPhysics::CollisionType_World;
+        if (!ignoreDoors)
+            mask |= MWPhysics::CollisionType_Door;
+
+        MWPhysics::PhysicsSystem::RayResult result = mPhysics->castRay(a, b, MWWorld::Ptr(), std::vector<MWWorld::Ptr>(), mask);
         return result.mHit;
     }
 
diff --git a/apps/openmw/mwworld/worldimp.hpp b/apps/openmw/mwworld/worldimp.hpp
index 941ab7a96..a2616995a 100644
--- a/apps/openmw/mwworld/worldimp.hpp
+++ b/apps/openmw/mwworld/worldimp.hpp
@@ -400,7 +400,7 @@ namespace MWWorld
             ///< Queues movement for \a ptr (in local space), to be applied in the next call to
             /// doPhysics.
 
-            bool castRay (float x1, float y1, float z1, float x2, float y2, float z2) override;
+            bool castRay (float x1, float y1, float z1, float x2, float y2, float z2, bool ignoreDoors=false) override;
             ///< cast a Ray and return true if there is an object in the ray path.
 
             bool toggleCollisionMode() override;