Thanks for that.
I'll point out relaxing path-connectedness would fail if you didn't assume Y were compact. E.g., Y = "Topologist's Sine Curve" (see wikipedia), and X = [0, 1]. Then if y_1 = (0,0), y_2 = some other arb pt in Y, and x_1 = 0, x_2 = 1. You'd be unable to extend that to a...