> if you don't put sidewalks and pathways in the right places, people invent their own.

To expand on that a bit, you can deliberately avoid putting in paths so that the natural behaviour becomes clear. You'll see paths develop between areas that you might not have thought of. Pedestrians are flattening grass and showing connections that are actually useful rather than following lines that have been set out for them with competing priorities in mind like aesthetics or budgets. Then you take that data and create paths that "users" actually want, based on their behaviour / use of the previous system.