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I personally think that your second option is the best - implement higher level orchestration that uses Nav2 as an action - the other changes really appear to be various level of hacks to make Nav2 do something it really wasn't envisioned as.

It may be possible make a single behavior tree that uses both the Nav2 elements and your custom logic - but I imagine it will be far easier to implement and debug by simply having your higher-level application (even as it's own behavior tree) call the Nav2 action interface.