By "path" I mean a route that has been walked by.
The best I could come out with is starting point and ending point.
Is there a shorter way to refer to them?
(Maybe end points?)
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You could refer to them as terminal points or just terminals if you want something shorter.
Some transit systems refer to the train stop at the end of a line as the Terminal station, meaning that there are no more stations after this point, and the train just turns around and goes back the other way.
If you simply said the ends of a path, I think most people would understand that to encompass each end.
Starting and ending points assume a directionality, which may or may not be what you intend.