OSMAnd has the very useful feature of showing when route elements have access=private, but they don't correctly implement when people mark a track as access=no, foothpath=yes to show its only a footpath, not a road.
Could plotaroute have a selective display where private features are shown as such, but whether its private depends on the mode, road or foot. Also have the route planning allow for this, including public footpaths along private roads when in Foot mode, but excluding them in Road mode.