First rule, simplify.
Your message is actually several problems that should be solved one at a time. You first problem is to click on the screen regardless of camera orientation and return a 3D location. PICK OBJECT makes this easy peasy. I've posted two examples on this forum in the last few days, look about. They are only like a dozen lines of code, but they're make your life so much easier. The second problem will require some work on your part as well as some thought on game design, storage of data internally, etc. Check out Amit's web site, he has several articles on A* navigation and it may point you on the right direction.
If A* pathing blows your socks off, there are some 'hacks' you can do. This might sound stupidly easy, but don't have any bottlenecks or concave objects. If there is no place for your units to get stuck, you can use a simple collision system to bounce the units off of trees, walls, and other units until they get around the obstable.
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TAZ (A round tower gathers no orcs.)
http://www-cs-students.stanford.edu/~amitp/gameprog.html