Better villager AI/Pathfinding

Villager pathfinding is awful in its current state. They tend to get stuck on the smallest things, and don't understand how stairs or doors work. I think this is because their AI doesn't let them find a new route if their first one doesn't work, unlike other mobs that do find a new route. Zombies should not be better at getting into villagers homes than the villagers, this often leads to them getting killed because they can't make it inside before being attacked. Not only that, but if their job block or bed is inside of a building with multiple entrances, they instead like to stand near the wall nearest to their bed/job block.