another possible approach?

node pathing with tilemaps

use some sort of 2d tiled collision map, passable / impassable. perhaps somewhat coarser resolution than collision maps. heuristics gets you to the center of the tile, and from one to the next. a pre-generated "node map" tells you how to get from any start tile to any goal tile.

tiles are small enough to not contain concave stuff heuristics can't deal with.

line of sight and wall following (and maybe recursion?) might be used to generate the node map from the array of tiles.

a variation on node based navigation, with node map generation.

to get to target, move from current node to goal node using node map. this gets you close enough for outdoor combat heuristics to work.