How to modify Floyd-Warshall algorithm with space $O(V^2)$ with tracking actual path?
For each $i,j$ keep track of the last $k$ for which the value $d_{ij}^{(k)}$ was changed. That must be the highest value on the shortest path from $i$ to $j$. The actual path can be retrieved recursively.

Added. A simpler solution. Keep track of array $n_{ij}$ of vertices, giving the next vertex on the shortest path from $i$ to $j$. Whenever $d_{ij}^{(k)}$ changes, $n_{ij}$ is set to $n_{ik}$.