Just on the note of story continuity, you could perhaps make the objective to interact with an object beyond a door. Have the door blocked by an invisible wall (or swap in and out one that does and doesn't close) which will disappear once that specific actor is 'complete'?
thats a good one, you can also do advanced stuff with doors and combat like this, I have one door that activates map pop up dialogue, with hidden and unhidden options based on previous combat]
if you killed the security then the door opening activates more enemies who want revenge, if you solved it diplomatically then theres nobody on the other side of the door and your clear, the door also hides the fact that there is a beam in animation as they spawn just ahead of the door becoming invisible
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