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You can issue a new goal prior to the current one completing. Monitor the output (geometry_msgs/PoseWithCovarianceStamped) of AMCL and when it gets close enough for you, issue the next goal. I can't promise it will be "smoothly" but you should be able to do it without it stopping.

Experiment with RVIZ goal setting to see how close you need to get before issuing next goal.

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