refactor: Upgrade A* pathfinding algorithm with configurable heuristics (#13917)

[2298321623-bot]

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📝 Description

Completely refactored and upgraded the existing inefficient A* pathfinding implementation to fully satisfy the enhancement proposal in #13917.

Key Features Implemented:

1. Upgraded grid-based pathfinding to use a high-performance priority queue (heapq).
2. Added support for graph adjacency list representations.
3. Provided 3 configurable heuristic functions: Manhattan distance, Euclidean distance, and Chebyshev distance.
4. Fully typed with Python type hints and fully verified with clean doctests.

• Algorithm Explanation: https://en.wikipedia.org/wiki/A*_search_algorithm

Fixes #13917