All mobs should be able to recognise lava next to soul sand.
this bug has existed since the addition of soul sand.
to reproduce this issue:
-create a ring of soul sand around lava. it does not matter what size.
-spawn mobs on any block near the soul sand. (more mobs will increase the chance of one pathfinding over the soul sand)
some of them will just walk on the soul sand.
this is mainly an issue because of the recently added piglins. they spawn naturally on soul sand, and you can notice them dying around you.
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Can't reproduce in 1.16.2 pre 2 - they avoid it succcessfully
just added extra footage.
when spawning on soul sand next to lava, they do not walk away from it, but instead walk into the lava, when entities push the mob near the lava, it also does not try to get away from it. you can also lure the mobs into lava, which is okay for zombies but not for any friendly mob.

Can you please update affected version(s)? preferrably regularly

Can confirm, the easiest way to reproduce is to force a mob to pathfind on a narrow soulsand path between lava
I think that's duplicate of MC-150455