When I was little, my mother taught me to be aware of my surroundings, she taught me to be aware of what was going on in my world because there were people and animals and random events that could hurt me. She said that while I may not be able to prevent everything but by being aware I could prevent somethings from happening. This lesson left an impression on me. I strained to be aware of everything. I practiced keeping my mind open and to use all my senses. Over the years this has turned out to become a part of my general awareness, it is a habit.
I can walk through crowds of people, trees, animals, etc. without causing much of a disturbance. I don't know how to describe it other than I am a pathfinder. I can find the path of least resistance. It is an odd feeling, an extra awareness, as if I can see 360° at all times and the paths between are marked clearly. It's not special, it is something that everyone can do with practice.
Start small. Start with a room that you are mostly familiar with. Walk around the room and use all of your senses to experience it. Imagine that your awareness extends around you in a sphere. Take a deep breath and push that awareness out further. Feel the ground beneath your feet, what is the material that makes it up? Are there any subtle shifts or marks? See, smell, touch and listen to the room. Do this everyday. Keep your awareness around you like a bubble. It is tiring at first but with practice your mental muscles will become stronger.
Start experimenting in different spaces. Each space you are in will feel different, notice those differences with not just your sight, but with your other senses. Notice the differences with your bubble of awareness. Once you get practiced at that you can start trying to path find.
This part of the process is going to be different for everyone. I have tried to analyze how I do it but all I can say is that I see the possible openings in a crowd or in a natural setting and change and adapt my path forward with each change in opening. I use my awareness to adapt and change with whatever environment I am in.