>>1979394
I mean, unless you're packing buildings as tightly as possible into an area, there should always be room for footpaths. They're one of the smallest bits of infrastructure in the game, and you can connect them only 12m from a road intersection or 6m from a footpath intersection.
Pedestrians always take the route to their destination that takes the least amount of time, so you might need to forbid them from walking on the building's access road if you want them use the longer footpaths.