Yes somehow, in a the sense that there are always things that we can observe as annoying when the representation of a situation where these issues are not present is easy to fantasize. But making actually disappear these annoyances is the hard part, plus the new situation have great chances to be bound to different annoyances that phantasms didn't anticipate. So the NP hard problem is being critique of our anticipations to try to avoid paths to bigger troubles, and keep steady effort on waking the path all while also paying attention to current sensory feedbacks of the situation on the road.