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It sounds like you just need to modify the structure of your behavior tree with different control flow node types or shuffle things a little bit to get the logic you would like. I suggest reading "Behavior Trees in Robotics and AI: An Introduction" to get a good functional understanding of behavior trees in general before trying to design your own so you know the nomenclature, what your options are, and how to structure a customized BT. Unfortunately, I don't have the cycles to help design application-specific behavior trees for everyone so you should get comfortable with behavior trees in general and then come back to the specific problem you have now (and so that in the future, you know how to modify to continue to customize Nav2's logic to your needs!).

https://arxiv.org/abs/1709.00084

It sounds like you just need to modify the structure of your behavior tree with different control flow node types or shuffle things a little bit to get the logic you would like. I suggest reading "Behavior Trees in Robotics and AI: An Introduction" to get a good functional understanding of behavior trees in general before trying to design your own so you know the nomenclature, what your options are, and how to structure a customized BT. Unfortunately, I don't have the cycles to help design application-specific behavior trees for everyone so you should get comfortable with behavior trees in general and then come back to the specific problem you have now (and so that in the future, you know how to modify to continue to customize Nav2's logic to your needs!).

This is the text I used to learn about BT's myself and Michele is a great expert on this topic and did a fantastic job on this work.

https://arxiv.org/abs/1709.00084