Villagers try to pathfind through solid walls

Villagers will try to pathfind through solid walls in order to reach their POI blocks, resulting in them being stuck until their schedule allows them to switch to a different POI. This problem tends to plague custom villages with large structures. I've screenshotted an example village and diagrammed it below. This can be reproduced by creating a large chambered building with job sites and beds with a single or double door entrance and then spawning villagers.

MC-156031 can also be observed with this layout,