I went through this process 3 times already but I don’t remember the exact steps 
it’s so ducking fragile! First time when I switched to bjs 5 and two times I had to adjust it to work with the new beta releases. Ain’t gonna touch it again lol
However you might be interested in a pure js solution based on Yuka ai js library. I wrote 3 navigation examples. You can find them here:
You’ll be interested in the TS version. There is only 1 navigation example at the moment in TS but definitely check the other two JS examples as well. It’s as easy as import the YUKA package and you are good to go.
EDIT:
I just got it working in 4.2.1 like this (not the cleanest solution though):
Unzip this file to your src folder:
recast.zip (201.5 KB)
or it works with the recast-detour npm package as well:
Modify the the file recast-detour/recast.d.ts in node_modules:
The result is the same:
