Sometimes baritone just dont find the best path(it finds a path that is the closest that way but takes more time than a path that is longer),also the goto command should be able to get configured so you should select the amount of block(radius) to search.

Final checklist

• I know how to properly use check boxes
• I have not used any OwO's or UwU's in this issue.

Search distance is only limited by whether Baritone knows the terrain so as long as the necessary areas are cached it can search far outside your render distance.
The reason why it stops early is more likely a timeout. If you start pathing it works as follows

1. If it finds a complete path to your goal it uses that.
2. After primaryTimeoutMS if there is a long enough partial path, it uses that instead of waiting for a complete one any longer.
3. After failureTimeoutMS if there is still not even a long enough partial path, it fails.

If it is already walking and planning ahead it uses planAheadPrimaryTimeoutMS and planAheadFailureTimeoutMS instead.

You are probably running into 2. either for the initial segment or for a following segment so I'd suggest increasing all four timeouts.