Unreal Tournament did a good job with the AI, even on the large maps.
What makes that work is less AI programming, and more setup in the actual map using more than just navigation points. There are entities that let a bot know this is a place to jump, snipe, or a number of other things.
An enterprising modder could probably add points like this to the game, and let the AI know what to do once they encounter them. As an example, say the enemy called artillery on the buildable bridge the AI engy needs to make. When the arty is falling, a new invisible entity could be placed at that spot which tells the AI not to go in there (unless it’s IQ is set to noob).
It wouldnt be easy to do this, but it would be much more effective than trying to simply program the AI to think on it’s own.