One of the three squads of guardsmen is stuck, unmoving on the map and won't walk to the teleporter after being rescued.
I know they can sometimes be daft and get stuck on the terrain but this time they are standing in the open. I tried kiting some mobs to attack them but the guardsmen were taking no damage and not reacting to being shot.
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Try to move as quick as you can away from them. They teleport to you after a longer distance, helps to get them unstuck on certain occasions.
But if they are not even taking damage they might be truly freezed.
It should not count as fail and you can start where you left, without being set back to the first mission in that stage.
It always happens to just one group of soldiers and they just stand around not even taking damage or attacking the enemy.
Until then as a workaround: get close to the guardsmen team first, then try to clear the enemy - do not aggro the enemy group without getting closer to the guardsmen.
Set this current order state as My default.