That’s the flocking AI that I was referring to. For something that is talking about a single AI bot it shouldn’t matter since you are referencing each AI actor and they will all follow the same behavior tree but each will be independent of each other.
In your behavior tree you will want to check for those variables as a blackboard key. So you need to set the blackboard key when they hit those overlaps. Just have a check on the behavior tree for if those are true and then jump to the next step in the sequence which would be a wait command until the key changes. You will need a couple of different keys to check if they are already across the road or not, and more advanced you would put a timer on the lights changing and make the AI figure out if it’s got enough time to cross the road before going.