Behvaiour tree Move to node asynchonus

Hello everybody!

I am developing a bot and I want that the bot moves to the target but in the way the logic can tell him to take cover or to shoot. The problem is that when I use the node MoveTo, the rest of the tree is useless until it reaches the target or I force to finish (for example with a Simple Parallel with a wait X seconds).

The thing is that I want to move while the rest of the logic is working. For example, it is moving and in a moment he stops and shoot, or it decides to take cover instead of going to the target.

An Idea that I got is to use a Simple parallel in the first node, the main task is moveto and the other one is the rest of my tree but sometimes I want that it simple stay still in the middle, I dont want that walks all the way.

Anyone knows how can I make that moveTo with the rest of the logic? If you have any other idea feel free to tell me^^

Thanks!