I'm currently stress testing the AI pathfinding -- specifically in order to make sure that when a large group of NPCs are all walking near each other, they don't end up blocking each others' paths and growing into one big mess of blocked NPCs. So far, some relatively simple rules seem to be doing the trick:
As an aside, this looks kinda psychedelic in Tactical View with all the NPCs' field of view cones overlapping:
The only issue I've run into is that sometimes NPCs freeze up after having gotten out of another NPCs way. Their order and pathfinding seems to be fine, but they just end up standing all alone in the street doing nothing. I'll have to figure out what's causing that. They're probably just depressed.