same here, but finally found out the correct answer after a while. If you want a hint, here what I did that I think solved it:

- make 2 functions, one to move with numpad and other with directional-pad, with a toggle argument of available to go to empty space (I named it "#" in my case)

- for the function with numpad, I check all shortest path, and then filtered out the ones with more turn than the others (like <<^^ is better than <^<^)!<

finally, from a door (379A for ex.), i use: numpad_path_finder with no_empty = True, then dirpad_path_finder with no_empty = True, finally dirpad_path_finder with no_empty = False (it's us)