Stop Order vs PerceptionComponent?

[Korky]

So I've implemented similar library for my game, took a lot of inspiration from this one, I was wondering if instead of using a complex stop order it would be better to just use PerceptionSenses to be aware of surroundings eg. with Sight Senses could replace acquisition radius ... is there performance concern using one over the other or was it just limited development time you guys didn't look at this??