I do think that if you can reduce the number of parallel tasks then that will help. Have you seen
this tree? I think that if you reduce the number of parallel tasks to just being the bulk of the active logic then you'll improve your performance. As an example if flee is the highest priority, then immediately under your topmost Selector you'd have the flee branch as the leftmost branch which is reevaluated with a lower priority conditional abort. Try to reduce the number of tasks that are reevaluated as well. A self conditional abort is fine as that only runs when the child branch is running, but a lower priority branch is more performance intensive as it will reevaluate when a lot more of the tree is active.