Late reply, but if you’re really handy you could create your own map rendering and routing profiles for OSMAND+. OSMAND does differentiate between highways, road and paths but doesn’t differentiate the different access levels within paths. You’d have to add some path/tag information to he rendering and routing to get what you’d want.
Custom Rendering
https://osmand.net/help/docs/Custom_Rendering_How-To.htm
Modifying the routing in OSMAND+
https://osmand.net/features/navigation-profiles#create_brouter