Problem with AI is even if you spend a lot of time trying to get it right, it can make choices that are confusing to us humans and illicit ridicule from the player base.
To me, that's a huge part of our game -- catering to the NPCs, specifically figuring out "why are they missing X? Oh, because they're walking Z distance to the nearest bathroom!". I think the AI is fantastic but, when functioning perfectly as [we would have] expected, we still get complaints about why the 'dumb AI' will do X or Y. Part of that is defintiely a UI/UX issue on our part -- but another part is that players generally aren't used to it and they expect much more "robotic" or obvious/easy behaviors from agents/NPCs.
Emergent & opportunistic behaviors are awesome (IMO at least), but a lesson we learned is that they may not always provide players with the desired or expected gameplay experience. It'll of course always be game-specific, but it's something we will keep in mind & likely simplify further in our next game.