Traveling Salesman, With Exits and Walls

Hello! So I have this game called Screeps that I play and I have been heavily studying `35.n` videos, however they are great to get a basic understanding of the TS problem, but lack any sort of "Route Constraints" I'd love to see how you go about solving this particular problem that I'm facing. I have posted the question to StackOverflow, and have attempted to implement it myself, but there are other constraints that need to be met. For example, finding the path cannot take longer than 5 seconds.

https://stackoverflow.com/questions/73656828/traveling-salesman-problem-with-exit-directions