Ability to Access other Characters within Mission

My biggest complaint with State of Decay 2 is the inability to switch to another character within your party if you are on a person-specific mission without causing that mission to be cancelled. I have had characters die in battle due to the inability to have them use medicine, etc. 

I think it would improve the game so even if you are on a character specific mission, you can still have that functionality to have that person pick up items, use items, etc.