I went in same issue (that was mentioned in 2017)when I marked a back copper layer to be GND/Earth then I run the freerouter plugin.
I found that freerouting ignores the copper fill. I searched the forum to find same issue reported in 2017.
I was wondering if there was any new feature to overcome this issue in KiCad 7 ?
old discussion : Autorouter ignoring copper fills?
I did not follow the old link, but this is probably normal and expected behavior.
Zones are calculated by an algorithm, and those keep a defined clearance from any tracks and pads that are in the zone. If there are area’s where you do not want tracks to be routed, then use: PCB Editor / Place / Add Rule Area, and then set it to: Keep out tracks. I do not use freerouter myself, and I do not know if that program is aware of and respects those keep out area’s.
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