Related: this issue on GitHub:

https://github.com/osmandapp/Osmand/issues/1844

I tried to adept routing.xml to change this. 
By allowing footways etc. in car-profile, but with a very low priority.

You could try this routing.xml (place it in Osmand folder and restart OsmAnd) 

https://www.dropbox.com/s/ue8hte6u2vo8hax/routing.xml?dl=0

But this has other issues..

When destination is on a long footway, route calculation is very slow. 
Sometimes you get a route through a short piece of footway or path

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