GraphUpdateScene looks like it just modifies the nearest nodes to mark them with a tag.
In this example, green is Tag 0, and red is Tag 1. The GraphUpdateScene component is on the fire object, and it’s supposed to tag the fire to be avoided.
Is there a way to have smarter tag application, by actually adding needed nodes to the navgraph when scanning it? In other words, a bit like this: (crappy drawing as example of tagged area)