That was my initial thinking, but since Maneuver just sets up the next volley, I don’t think that works quite as well, especially if the party if the one guarding the area. IE, you would narrate your actions as using using the environment to gain advantage against intruders (guarding) or essentially finding a path between the routes and sentries (infiltrating).
Pathfinding is more about traveling safely and rapidly. Dungeoneering is climbing, rope work, traversing dangerous underground terrain.
I maintain you had it right the first time with Criminal. Impede? Start a diversionary fire. Gain advantage? Smear on some greasepaint and a fake mustache and pretend to be a guard. Disarm? Snuff the torches. Also: my Criminal skill is 4, so…