Wouldn't more advanced pathfinding prevent desync?

I'm not a programmer or anything, this is just an observation I had based on some assumptions about what causes desync.

Right now, this game has pretty crude pathfinding for your character's movement. If you want run around a bunch of tight corners, you need to click pretty close to your character, and clicking too far ahead will just get you stuck on a wall. This isn't a problem by itself, just a difference between this genre and RTS games I guess.

Getting stuck on walls in dungeon/maze maps seems to cause the vast majority of desync. If you issue a command immediately after passing through a door on the client, the server may be 100ms of ping behind and think you're still inside the first room. The pathing algorithm will get you stuck on the wall in the first room on the server meanwhile your client is pathing you just fine to the other side of the second room.

Wouldn't increasing the radius on the pathfinder a little bit improve this behavior by a ton? Or am I missing something.