Good news and bad news:

Bad news: My flash drive got corrupted, so I had to revert to the most recent file which was about a week and a half ago (before trying to insert binary heaps).

Good news: I was actually going to revert to this file anyways for various reasons. I've updated it (haven't got binary heaps in yet) and have found a faster time. Apparently, I was referring to a deprecated function quite a few times in the background for some reason, so I removed the function and it works faster.

Updated speed with the 'U-wall': 7 sec.

Reconstructing the path has gotten seriously buggy, so I need to fix this first before moving on.