diff --git a/azalea-client/src/client.rs b/azalea-client/src/client.rs
index 7b63ff12..02625326 100644
--- a/azalea-client/src/client.rs
+++ b/azalea-client/src/client.rs
@@ -342,13 +342,13 @@ impl Client {
     /// ```
     /// # use azalea_client::{Client, mining::Mining};
     /// # fn example(bot: &Client) {
-    /// let is_mining = bot.map_get_component::<Mining, _>(|m| m.is_some());
+    /// let is_mining = bot.map_get_component::<Mining, _>(|m| m).is_some();
     /// # }
     /// ```
-    pub fn map_get_component<T: Component, R>(&self, f: impl FnOnce(Option<&T>) -> R) -> R {
+    pub fn map_get_component<T: Component, R>(&self, f: impl FnOnce(&T) -> R) -> Option<R> {
         let mut ecs = self.ecs.lock();
         let value = self.query::<Option<&T>>(&mut ecs);
-        f(value)
+        value.map(f)
     }
 
     /// Get an `RwLock` with a reference to our (potentially shared) world.
diff --git a/azalea-client/src/plugins/inventory.rs b/azalea-client/src/plugins/inventory.rs
index 23651db3..a7e45ffb 100644
--- a/azalea-client/src/plugins/inventory.rs
+++ b/azalea-client/src/plugins/inventory.rs
@@ -95,8 +95,7 @@ impl Client {
 /// A component present on all local players that have an inventory.
 #[derive(Component, Debug, Clone)]
 pub struct Inventory {
-    /// A component that contains the player's inventory menu. This is
-    /// guaranteed to be a `Menu::Player`.
+    /// The player's inventory menu. This is guaranteed to be a `Menu::Player`.
     ///
     /// We keep it as a [`Menu`] since `Menu` has some useful functions that
     /// bare [`azalea_inventory::Player`] doesn't have.
diff --git a/azalea-core/src/position.rs b/azalea-core/src/position.rs
index 357e9b39..beb8eedb 100644
--- a/azalea-core/src/position.rs
+++ b/azalea-core/src/position.rs
@@ -335,8 +335,9 @@ impl Vec3 {
     }
 }
 
-/// The coordinates of a block in the world. For entities (if the coordinate
-/// have decimals), use [`Vec3`] instead.
+/// The coordinates of a block in the world.
+///
+/// For entities (if the coordinates are floating-point), use [`Vec3`] instead.
 #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
 #[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
 pub struct BlockPos {
diff --git a/azalea-world/src/chunk_storage.rs b/azalea-world/src/chunk_storage.rs
index 23d1bb89..a6e33739 100644
--- a/azalea-world/src/chunk_storage.rs
+++ b/azalea-world/src/chunk_storage.rs
@@ -41,6 +41,9 @@ pub struct PartialChunkStorage {
 /// A storage for chunks where they're only stored weakly, so if they're not
 /// actively being used somewhere else they'll be forgotten. This is used for
 /// shared worlds.
+///
+/// This is relatively cheap to clone since it's just an `IntMap` with `Weak`
+/// pointers.
 #[derive(Debug, Clone)]
 pub struct ChunkStorage {
     pub height: u32,
diff --git a/azalea/src/container.rs b/azalea/src/container.rs
index e5896d8a..da3ddb8a 100644
--- a/azalea/src/container.rs
+++ b/azalea/src/container.rs
@@ -32,6 +32,7 @@ pub trait ContainerClientExt {
     fn open_inventory(&self) -> Option<ContainerHandle>;
     fn get_held_item(&self) -> ItemStack;
     fn get_open_container(&self) -> Option<ContainerHandleRef>;
+    fn view_inventory(&self) -> Menu;
 }
 
 impl ContainerClientExt for Client {
@@ -100,9 +101,8 @@ impl ContainerClientExt for Client {
     /// Get the item in the bot's hotbar that is currently being held in its
     /// main hand.
     fn get_held_item(&self) -> ItemStack {
-        let ecs = self.ecs.lock();
-        let inventory = ecs.get::<Inventory>(self.entity).expect("no inventory");
-        inventory.held_item()
+        self.map_get_component::<Inventory, _>(|inventory| inventory.held_item())
+            .expect("no inventory")
     }
 
     /// Get a handle to the open container. This will return None if no
@@ -123,6 +123,15 @@ impl ContainerClientExt for Client {
             })
         }
     }
+
+    /// Returns the player's inventory menu.
+    ///
+    /// This is a shortcut for accessing the client's
+    /// [`Inventory::inventory_menu`].
+    fn view_inventory(&self) -> Menu {
+        self.map_get_component::<Inventory, _>(|inventory| inventory.inventory_menu.clone())
+            .expect("no inventory")
+    }
 }
 
 /// A handle to a container that may be open. This does not close the container
diff --git a/azalea/src/pathfinder/goals.rs b/azalea/src/pathfinder/goals.rs
index 5ab969c9..36fca762 100644
--- a/azalea/src/pathfinder/goals.rs
+++ b/azalea/src/pathfinder/goals.rs
@@ -29,7 +29,9 @@ impl Goal for BlockPosGoal {
         xz_heuristic(dx, dz) + y_heuristic(dy)
     }
     fn success(&self, n: BlockPos) -> bool {
-        n == self.0
+        // the second half of this condition is intended to fix issues when pathing to
+        // non-full blocks
+        n == self.0 || n.down(1) == self.0
     }
 }
 
@@ -219,8 +221,8 @@ impl Goal for ReachBlockPosGoal {
     }
     fn success(&self, n: BlockPos) -> bool {
         // only do the expensive check if we're close enough
-        let distance = (self.pos - n).length_squared();
-        if distance > self.max_check_distance * self.max_check_distance {
+        let distance = self.pos.distance_squared_to(&n);
+        if distance > self.max_check_distance.pow(2) {
             return false;
         }
 
diff --git a/azalea/src/pathfinder/mod.rs b/azalea/src/pathfinder/mod.rs
index 5ee56643..b05d2aab 100644
--- a/azalea/src/pathfinder/mod.rs
+++ b/azalea/src/pathfinder/mod.rs
@@ -274,10 +274,8 @@ impl PathfinderClientExt for azalea_client::Client {
     }
 
     fn is_goto_target_reached(&self) -> bool {
-        self.map_get_component::<Pathfinder, _>(|p| {
-            p.map(|p| p.goal.is_none() && !p.is_calculating)
-                .unwrap_or(true)
-        })
+        self.map_get_component::<Pathfinder, _>(|p| p.goal.is_none() && !p.is_calculating)
+            .unwrap_or(true)
     }
 }
 
@@ -689,7 +687,12 @@ pub fn timeout_movement(
             let world_lock = instance_container
                 .get(instance_name)
                 .expect("Entity tried to pathfind but the entity isn't in a valid world");
-            let successors_fn: moves::SuccessorsFn = pathfinder.successors_fn.unwrap();
+            let Some(successors_fn) = pathfinder.successors_fn else {
+                warn!(
+                    "pathfinder was going to patch path because of timeout, but there was no successors_fn"
+                );
+                return;
+            };
 
             let custom_state = custom_state.cloned().unwrap_or_default();
 
@@ -749,7 +752,8 @@ pub fn check_node_reached(
                     let z_difference_from_center = position.z - (movement.target.z as f64 + 0.5);
                     // this is to make sure we don't fall off immediately after finishing the path
                     physics.on_ground()
-                    && BlockPos::from(position) == movement.target
+                    // 0.5 to handle non-full blocks
+                    && BlockPos::from(position.up(0.5)) == movement.target
                     // adding the delta like this isn't a perfect solution but it helps to make
                     // sure we don't keep going if our delta is high
                     && (x_difference_from_center + physics.velocity.x).abs() < 0.2