Related: this issue on GitHub:

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)

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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