diff --git a/src/agent/library/skills.js b/src/agent/library/skills.js
index bbe8acf..9d62ef1 100644
--- a/src/agent/library/skills.js
+++ b/src/agent/library/skills.js
@@ -4,7 +4,7 @@ import pf from 'mineflayer-pathfinder';
 import Vec3 from 'vec3';
 import settings from "../../../settings.js";
 
-const blockPlaceDelay = settings.block_place_delay || 10;
+const blockPlaceDelay = settings.block_place_delay == null ? 0 : settings.block_place_delay;
 const useDelay = blockPlaceDelay > 0;
 
 export function log(bot, message) {
@@ -506,7 +506,7 @@ export async function pickupNearbyItems(bot) {
     let pickedUp = 0;
     while (nearestItem) {
         bot.pathfinder.setMovements(new pf.Movements(bot));
-        await bot.pathfinder.goto(new pf.goals.GoalFollow(nearestItem, 0.8), true);
+        await goToGoal(bot, new pf.goals.GoalFollow(nearestItem, 0.8));
         await new Promise(resolve => setTimeout(resolve, 200));
         let prev = nearestItem;
         nearestItem = getNearestItem(bot);
@@ -549,7 +549,7 @@ export async function breakBlockAt(bot, x, y, z) {
             movements.canPlaceOn = false;
             movements.allow1by1towers = false;
             bot.pathfinder.setMovements(movements);
-            await bot.pathfinder.goto(new pf.goals.GoalNear(pos.x, pos.y, pos.z, 4));
+            await goToGoal(bot, new pf.goals.GoalNear(pos.x, pos.y, pos.z, 4));
         }
         if (bot.game.gameMode !== 'creative') {
             await bot.tool.equipForBlock(block);
@@ -727,7 +727,7 @@ export async function placeBlock(bot, blockType, x, y, z, placeOn='bottom', dont
         let pos = targetBlock.position;
         let movements = new pf.Movements(bot);
         bot.pathfinder.setMovements(movements);
-        await bot.pathfinder.goto(new pf.goals.GoalNear(pos.x, pos.y, pos.z, 4));
+        await goToGoal(bot, new pf.goals.GoalNear(pos.x, pos.y, pos.z, 4));
     }
     
     await bot.equip(block, 'hand');
@@ -952,6 +952,10 @@ export async function giveToPlayer(bot, itemType, username, num=1) {
      * @example
      * await skills.giveToPlayer(bot, "oak_log", "player1");
      **/
+    if (bot.username === username) {
+        log(bot, `You cannot give items to yourself.`);
+        return false;
+    }
     let player = bot.players[username].entity
     if (!player) {
         log(bot, `Could not find ${username}.`);
@@ -1011,7 +1015,7 @@ export async function giveToPlayer(bot, itemType, username, num=1) {
 
 export async function goToGoal(bot, goal) {
     /**
-     * Navigate to the given goal, attempting minimally destructive movements.
+     * Navigate to the given goal. Use doors and attempt minimally destructive movements.
      * @param {MinecraftBot} bot, reference to the minecraft bot.
      * @param {pf.goals.Goal} goal, the goal to navigate to.
      **/
@@ -1025,30 +1029,18 @@ export async function goToGoal(bot, goal) {
 
     const destructiveMovements = new pf.Movements(bot);
 
-    let final_movements = null;
-    let movements = [
-        {name: 'nonDestructive', movements: nonDestructiveMovements}, 
-        {name: 'destructive', movements: destructiveMovements}
-    ];
+    let final_movements = destructiveMovements;
 
     const pathfind_timeout = 1000;
-    try {
-        for (let i = 0; i < movements.length; i++) {
-            const movement = movements[i].movements;
-            const path = await bot.pathfinder.getPathTo(movement, goal, pathfind_timeout);
-            if (path && path.path && path.path.length > 0 && path.status !== 'noPath') {
-                final_movements = movement;
-                log(bot, `Using ${movements[i].name} movements.`);
-                break;
-            }
-        }
-        if (!final_movements) {
-            log(bot, `Could not find a path to ${username}.`);
-            return false;
-        }
-    } catch (err) {
-        log(bot, `Could not find a path: ${err.message}.`);
-        return false;
+    if (await bot.pathfinder.getPathTo(nonDestructiveMovements, goal, pathfind_timeout).status === 'success') {
+        final_movements = nonDestructiveMovements;
+        log(bot, `Found non-destructive path.`);
+    }
+    else if (await bot.pathfinder.getPathTo(destructiveMovements, goal, pathfind_timeout).status === 'success') {
+        log(bot, `Found destructive path.`);
+    }
+    else {
+        log(bot, `Could not find a path to goal, attempting to navigate anyway using destructive movements.`);
     }
 
     const doorCheckInterval = startDoorInterval(bot);
@@ -1059,9 +1051,9 @@ export async function goToGoal(bot, goal) {
         clearInterval(doorCheckInterval);
         return true;
     } catch (err) {
-        log(bot, `Could not find a path: ${err.message}.`);
         clearInterval(doorCheckInterval);
-        return false;
+        // we need to catch so we can clean up the door check interval, then rethrow the error
+        throw err;
     }
 }
 
@@ -1168,9 +1160,16 @@ export async function goToPosition(bot, x, y, z, min_distance=2) {
     
     try {
         await goToGoal(bot, new pf.goals.GoalNear(x, y, z, min_distance));
-        log(bot, `You have reached at ${x}, ${y}, ${z}.`);
         clearInterval(progressInterval);
-        return true;
+        const distance = bot.entity.position.distanceTo(new Vec3(x, y, z));
+        if (distance <= min_distance+1) {
+            log(bot, `You have reached at ${x}, ${y}, ${z}.`);
+            return true;
+        }
+        else {
+            log(bot, `Unable to reach ${x}, ${y}, ${z}, you are ${Math.round(distance)} blocks away.`);
+            return false;
+        }
     } catch (err) {
         log(bot, `Pathfinding stopped: ${err.message}.`);
         clearInterval(progressInterval);
@@ -1235,7 +1234,10 @@ export async function goToPlayer(bot, username, distance=3) {
      * @example
      * await skills.goToPlayer(bot, "player");
      **/
-
+    if (bot.username === username) {
+        log(bot, `You are already at ${username}.`);
+        return true;
+    }
     if (bot.modes.isOn('cheat')) {
         bot.chat('/tp @s ' + username);
         log(bot, `Teleported to ${username}.`);
@@ -1287,7 +1289,7 @@ export async function followPlayer(bot, username, distance=4) {
         if (bot.modes.isOn('cheat') && bot.entity.position.distanceTo(player.position) > 100 && player.isOnGround) {
             await goToPlayer(bot, username);
         }
-        const is_nearby = bot.entity.position.distanceTo(player.position) <= distance + 1;
+        const is_nearby = bot.entity.position.distanceTo(player.position) <= distance + 2;
         if (is_nearby) {
             clearInterval(doorCheckInterval);
             doorCheckInterval = null;
@@ -1334,7 +1336,7 @@ export async function moveAway(bot, distance) {
         }
     }
 
-    await bot.pathfinder.goto(inverted_goal);
+    await goToGoal(bot, inverted_goal);
     let new_pos = bot.entity.position;
     log(bot, `Moved away from nearest entity to ${new_pos}.`);
     return true;
@@ -1528,7 +1530,7 @@ export async function tillAndSow(bot, x, y, z, seedType=null) {
     if (bot.entity.position.distanceTo(block.position) > 4.5) {
         let pos = block.position;
         bot.pathfinder.setMovements(new pf.Movements(bot));
-        await bot.pathfinder.goto(new pf.goals.GoalNear(pos.x, pos.y, pos.z, 4));
+        await goToGoal(bot, new pf.goals.GoalNear(pos.x, pos.y, pos.z, 4));
     }
     if (block.name !== 'farmland') {
         let hoe = bot.inventory.items().find(item => item.name.includes('hoe'));
@@ -1574,7 +1576,7 @@ export async function activateNearestBlock(bot, type) {
     if (bot.entity.position.distanceTo(block.position) > 4.5) {
         let pos = block.position;
         bot.pathfinder.setMovements(new pf.Movements(bot));
-        await bot.pathfinder.goto(new pf.goals.GoalNear(pos.x, pos.y, pos.z, 4));
+        await goToGoal(bot, new pf.goals.GoalNear(pos.x, pos.y, pos.z, 4));
     }
     await bot.activateBlock(block);
     log(bot, `Activated ${type} at x:${block.position.x.toFixed(1)}, y:${block.position.y.toFixed(1)}, z:${block.position.z.toFixed(1)}.`);
diff --git a/src/agent/library/world.js b/src/agent/library/world.js
index 0253b41..ae97d2d 100644
--- a/src/agent/library/world.js
+++ b/src/agent/library/world.js
@@ -354,6 +354,7 @@ export async function isClearPath(bot, target) {
     let movements = new pf.Movements(bot)
     movements.canDig = false;
     movements.canPlaceOn = false;
+    movements.canOpenDoors = false;
     let goal = new pf.goals.GoalNear(target.position.x, target.position.y, target.position.z, 1);
     let path = await bot.pathfinder.getPathTo(movements, goal, 100);
     return path.status === 'success';