diff --git a/tutorials/navigation/index.rst b/tutorials/navigation/index.rst
index df71d4430..1eaefdf00 100644
--- a/tutorials/navigation/index.rst
+++ b/tutorials/navigation/index.rst
@@ -12,6 +12,7 @@ Navigation
    navigation_using_navigationregions
    navigation_using_navigationmeshes
    navigation_using_navigationpaths
+   navigation_using_navigationpathqueryobjects
    navigation_using_navigationagents
    navigation_using_navigationobstacles
    navigation_using_navigationlinks
diff --git a/tutorials/navigation/navigation_using_navigationpathqueryobjects.rst b/tutorials/navigation/navigation_using_navigationpathqueryobjects.rst
new file mode 100644
index 000000000..9535bf749
--- /dev/null
+++ b/tutorials/navigation/navigation_using_navigationpathqueryobjects.rst
@@ -0,0 +1,62 @@
+.. _doc_navigation_using_navigationpathqueryobjects:
+
+Using NavigationPathQueryObjects
+================================
+
+``NavigationPathQueryObjects`` can be used together with ``NavigationServer.query_path()`` 
+to obtain a heavily **customized** navigation path including optional **meta data** about the path.
+
+This requires more setup compared to obtaining a normal NavigationPath but lets you tailor 
+the pathfinding and provided path data to the different needs of a project.
+
+NavigationPathQueryObjects consist of a pair of objects, a ``NavigationPathQueryParameters`` object holding the customization options 
+for the query and a ``NavigationPathQueryResult`` that receives (regular) updates with the resulting path and meta data from the query.
+
+2D and 3D versions of ``NavigationPathQueryParameters`` are available as 
+:ref:`NavigationPathQueryParameters2D<class_NavigationPathQueryParameters2D>` and 
+:ref:`NavigationPathQueryParameters3D<class_NavigationPathQueryParameters3D>` respectively.
+
+2D and 3D versions of ``NavigationPathQueryResult`` are available as 
+:ref:`NavigationPathQuerResult2D<class_NavigationPathQueryResult2D>` and 
+:ref:`NavigationPathQueryResult3D<class_NavigationPathQueryResult3D>` respectively.
+
+Both parameters and result are used as a pair with the ``NavigationServer.query_path()`` function.
+
+For the available customization options and their use see the class doc of the parameters.
+
+While not a strict requirement, both objects are intended to be created once in advance, stored in a 
+persistent variable for the agent and reused for every followup path query with updated parameters. 
+This reuse avoids performance implications from frequent object creation if a project 
+has a large quantity of simultaneous agents that regularly update their paths.
+
+.. tabs::
+ .. code-tab:: gdscript GDScript
+
+    # prepare query objects
+    var query_parameters = NavigationPathQueryParameters2D.new()
+    var query_result  = NavigationPathQueryResult2D.new()
+
+    # update parameters object
+    query_parameters.map = get_world_2d().get_navigation_map()
+    query_parameters.start_position = agent2d_current_global_position
+    query_parameters.target_position = agent2d_target_global_position
+
+    # update result object
+    NavigationServer2D.query_path(query_parameters, query_result)
+    var path : PackedVector2Array = query_result.get_path()
+
+.. tabs::
+ .. code-tab:: gdscript GDScript
+
+    # prepare query objects
+    var query_parameters = NavigationPathQueryParameters3D.new()
+    var query_result  = NavigationPathQueryResult3D.new()
+
+    # update parameters object
+    query_parameters.map = get_world_3d().get_navigation_map()
+    query_parameters.start_position = agent3d_current_global_position
+    query_parameters.target_position = agent3d_target_global_position
+
+    # update result object
+    NavigationServer3D.query_path(query_parameters, query_result)
+    var path : PackedVector3Array = query_result.get_path()
diff --git a/tutorials/navigation/navigation_using_navigationpaths.rst b/tutorials/navigation/navigation_using_navigationpaths.rst
index 1bce20dfa..5419cee2a 100644
--- a/tutorials/navigation/navigation_using_navigationpaths.rst
+++ b/tutorials/navigation/navigation_using_navigationpaths.rst
@@ -13,6 +13,8 @@ To obtain a 2D path, use ``NavigationServer2D.map_get_path(map, from, to, optimi
 
 To obtain a 3D path, use ``NavigationServer3D.map_get_path(map, from, to, optimize, navigation_layers)``.
 
+For more customizable navigation path queries that require additional setup see :ref:`doc_navigation_using_navigationpathqueryobjects`.
+
 One of the required parameters for the query is the RID of the navigation map. 
 Each game ``World`` has a default navigation map automatically created. 
 The default navigation maps can be retrieved with ``get_world_2d().get_navigation_map()`` from