I used the version from 'definitive frikbot waypack' with both sets of changes. I'm testing with 3 bots plus myself. Just through observation and scrolling through console messages, it appeared to be at least 50% reduction in falls. I don't know if it could get any better without more extensive traceline checks and/or prediction (bots simulating physics beyond one move).
Keeping the bot on-task to reach items would kill two birds with one stone. When a bot has a weak weapon, let it shoot but keep moving to the next goal. In any case limit enemy engagement to X seconds then move on.