diff --git a/binaries/data/mods/public/simulation/components/UnitAI.js b/binaries/data/mods/public/simulation/components/UnitAI.js
index 8e21df617b..ae87671e04 100644
--- a/binaries/data/mods/public/simulation/components/UnitAI.js
+++ b/binaries/data/mods/public/simulation/components/UnitAI.js
@@ -1384,17 +1384,12 @@ UnitAI.prototype.UnitFsmSpec = {
 			// Occurs when the unit has reached its destination and the controller
 			// is done moving. The controller is notified.
 			"MovementUpdate": function(msg) {
-				// We're supposed to be walking in formation,
-				// but the controller has no position -> abort.
-				let cmpControllerPosition = Engine.QueryInterface(this.formationController, IID_Position);
-				if (!cmpControllerPosition || !cmpControllerPosition.IsInWorld())
-				{
-					this.FinishOrder();
-					return;
-				}
-				if (!msg.likelyFailure && !msg.likelySuccess)
-					return;
-
+				// When walking in formation, we'll only get notified in case of failure
+				// if the formation controller has stopped walking.
+				// Formations can start lagging a lot if many entities request short path
+				// so prefer to finish order early than retry pathing.
+				// (see https://code.wildfiregames.com/rP23806)
+				// (if the message is likelyFailure of likelySuccess, we also want to stop).
 				this.FinishOrder();
 			},
 		},
diff --git a/source/simulation2/components/CCmpUnitMotion.cpp b/source/simulation2/components/CCmpUnitMotion.cpp
index a6b8a5f27a..9ff8393d7f 100644
--- a/source/simulation2/components/CCmpUnitMotion.cpp
+++ b/source/simulation2/components/CCmpUnitMotion.cpp
@@ -483,10 +483,10 @@ private:
 		return m_MoveRequest.m_Type == MoveRequest::OFFSET;
 	}
 
-	bool IsFormationControllerNotMoving() const
+	bool IsFormationControllerMoving() const
 	{
 		CmpPtr<ICmpUnitMotion> cmpControllerMotion(GetSimContext(), m_MoveRequest.m_Entity);
-		return cmpControllerMotion && !cmpControllerMotion->IsMoveRequested();
+		return cmpControllerMotion && cmpControllerMotion->IsMoveRequested();
 	}
 
 	entity_id_t GetGroup() const
@@ -501,6 +501,12 @@ private:
 	 */
 	void MoveFailed()
 	{
+		// Don't notify if we are a formation member in a moving formation - we can occasionally be stuck for a long time
+		// if our current offset is unreachable, but we don't want to end up stuck.
+		// (If the formation controller has stopped moving however, we can safely message).
+		if (IsFormationMember() && IsFormationControllerMoving())
+			return;
+
 		CMessageMotionUpdate msg(CMessageMotionUpdate::LIKELY_FAILURE);
 		GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
 	}
@@ -512,10 +518,33 @@ private:
 	 */
 	void MoveSucceeded()
 	{
+		// Don't notify if we are a formation member in a moving formation - we can occasionally be stuck for a long time
+		// if our current offset is unreachable, but we don't want to end up stuck.
+		// (If the formation controller has stopped moving however, we can safely message).
+		if (IsFormationMember() && IsFormationControllerMoving())
+			return;
+
 		CMessageMotionUpdate msg(CMessageMotionUpdate::LIKELY_SUCCESS);
 		GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
 	}
 
+	/**
+	 * Warns other components that our current movement was obstructed (i.e. we failed to move this turn).
+	 * This should only be called before the actual movement in a given turn, or units might both move and try to do things
+	 * on the same turn, leading to gliding units.
+	 */
+	void MoveObstructed()
+	{
+		// Don't notify if we are a formation member in a moving formation - we can occasionally be stuck for a long time
+		// if our current offset is unreachable, but we don't want to end up stuck.
+		// (If the formation controller has stopped moving however, we can safely message).
+		if (IsFormationMember() && IsFormationControllerMoving())
+			return;
+
+		CMessageMotionUpdate msg(CMessageMotionUpdate::OBSTRUCTED);
+		GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
+	}
+
 	/**
 	 * Increment the number of failed path computations and notify other components if required.
 	 */
@@ -761,17 +790,10 @@ void CCmpUnitMotion::PathResult(u32 ticket, const WaypointPath& path)
 	}
 
 	if (m_FailedPathComputations >= 1)
-	{
 		// Inform other components - we might be ordered to stop, and computeGoal will then fail and return early.
-		CMessageMotionUpdate msg(CMessageMotionUpdate::OBSTRUCTED);
-		GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
-	}
+		MoveObstructed();
 
-	// Don't notify if we are a formation member - we can occasionally be stuck for a long time
-	// if our current offset is unreachable.
-	// Unless the formationcontroller has reached final destination and we are stuck
-	if (!IsFormationMember() || IsFormationControllerNotMoving())
-		IncrementFailedPathComputationAndMaybeNotify();
+	IncrementFailedPathComputationAndMaybeNotify();
 
 	// If there's no waypoints then we couldn't get near the target
 	// If we're globally following a long path, try to remove the next waypoint,
@@ -1013,11 +1035,8 @@ bool CCmpUnitMotion::HandleObstructedMove()
 		return false;
 
 	if (m_FailedPathComputations >= 1)
-	{
 		// Inform other components - we might be ordered to stop, and computeGoal will then fail and return early.
-		CMessageMotionUpdate msg(CMessageMotionUpdate::OBSTRUCTED);
-		GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
-	}
+		MoveObstructed();
 
 	CFixedVector2D pos = cmpPosition->GetPosition2D();