Can movement/formation/tactical tasks be performed in parallel?

I apologize if this is explained somewhere, I did not find it. I am interested in having a squad of soldiers that will keep their formation while executing various movement/tactical tasks. I've tried parenting two of these tasks to a parallel task, but it doesn't seem it's meant to work this way. I have also tried doing them in sequence, but can't quite get what I'm looking for. I've made sure to set one of the soldiers to be the leader and the others to follow him. Thanks for any pointers!
 
Unfortunately not - the formation tasks take complete control of the NavMeshAgent so they can't work with the Movement/Tactical tasks.
 
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