Index: source/simulation2/components/CCmpUnitMotion.cpp
===================================================================
--- source/simulation2/components/CCmpUnitMotion.cpp
+++ source/simulation2/components/CCmpUnitMotion.cpp
@@ -1421,16 +1421,19 @@
 		if (distance < minRange)
 		{
 			// Too close to target - move outwards to a circle
-			// that's slightly larger than the min range
+			// that's slightly larger than the min range.
 			goal.type = PathGoal::INVERTED_CIRCLE;
-			goal.hw = minRange + Pathfinding::GOAL_DELTA;
+
+			// Distance checks are nearest edge to nearest edge, so we need to account for our clearance
+			// and we must make sure diagonals also fit so multiply by slightly more than sqrt(2)
+			goal.hw = minRange + m_Clearance * 3 /2;
 		}
 		else if (maxRange >= entity_pos_t::Zero() && distance > maxRange)
 		{
 			// Too far from target - move inwards to a circle
 			// that's slightly smaller than the max range
 			goal.type = PathGoal::CIRCLE;
-			goal.hw = maxRange - Pathfinding::GOAL_DELTA;
+			goal.hw = maxRange;
 
 			// If maxRange was abnormally small,
 			// collapse the circle into a point
@@ -1502,7 +1505,7 @@
 	/*
 	* If we're starting outside the maxRange, we need to move closer in.
 	* If we're starting inside the minRange, we need to move further out.
-	* These ranges are measured from the center of this entity to the edge of the target;
+	* These ranges are measured from the edge of this entity to the edge of the target;
 	* we add the goal range onto the size of the target shape to get the goal shape.
 	* (Then we extend it outwards/inwards by a little bit to be sure we'll end up
 	* within the right range, in case of minor numerical inaccuracies.)
@@ -1544,7 +1547,9 @@
 		// Circumscribe the square
 		entity_pos_t circleRadius = halfSize.Length();
 
-		entity_pos_t goalDistance = minRange + Pathfinding::GOAL_DELTA;
+		// Distance checks are nearest edge to nearest edge, so we need to account for our clearance
+		// and we must make sure diagonals also fit so multiply by slightly more than sqrt(2)
+		entity_pos_t goalDistance = minRange + m_Clearance * 3 /2;
 
 		if (ShouldTreatTargetAsCircle(minRange, circleRadius))
 		{
@@ -1592,7 +1597,7 @@
 				return true;
 			}
 
-			entity_pos_t goalDistance = maxRange - Pathfinding::GOAL_DELTA;
+			entity_pos_t goalDistance = maxRange;
 
 			goal.type = PathGoal::CIRCLE;
 			goal.hw = circleRadius + goalDistance;
@@ -1602,7 +1607,7 @@
 			// The target is large relative to our range, so treat it as a square and
 			// get close enough that the diagonals come within range
 
-			entity_pos_t goalDistance = (maxRange - Pathfinding::GOAL_DELTA)*2 / 3; // multiply by slightly less than 1/sqrt(2)
+			entity_pos_t goalDistance = maxRange * 2 / 3; // multiply by slightly less than 1/sqrt(2)
 
 			goal.type = PathGoal::SQUARE;
 			goal.u = obstruction.u;
Index: source/simulation2/helpers/Pathfinding.h
===================================================================
--- source/simulation2/helpers/Pathfinding.h
+++ source/simulation2/helpers/Pathfinding.h
@@ -148,15 +148,6 @@
 	const int NAVCELL_SIZE_INT = 1;
 	const int NAVCELL_SIZE_LOG2 = 0;
 
-	/**
-	 * For extending the goal outwards/inwards a little bit
-	 * NOTE: keep next to the definition of NAVCELL_SIZE to avoid init order problems
-	 *	between translation units.
-	 * TODO: figure out whether this is actually needed. It was added back in r8751 (in 2010) for unclear reasons
-	 * and it does not seem to really improve behavior today
-	 */
-	const entity_pos_t GOAL_DELTA = NAVCELL_SIZE/8;
-
 	/**
 	 * To make sure the long-range pathfinder is more strict than the short-range one,
 	 * we need to slightly over-rasterize. So we extend the clearance radius by 1.