The issue with steepness is that some generate passages that are very steep but less than a fourth of a meter long in the x/y axis, creating a wall.
The issue with tracers occurs between the bot traveling to the room center and leaving the room center.
The cleaning bot I mentioned would remove walls thin enough to be considered dividers. I forgot to mention that they would function similar to the item you mentioned, marking walls for the bot to avoid or priotize. Additionally, they would also destroy dead ends and merge paths and walls if reasonable.