Don't use FSM, use a Behaviour Tree with a predefined spec. FSM is an anti-pattern and pretty destructive. TLDR; Any complex FSM can't be read by a human sinc

Don't use FSM, use a Behaviour Tree with a predefined spec. FSM is an anti-pattern and pretty destructive. TLDR; Any complex FSM can't be read by a human since it has no pre-defined pattern for reading, you end up jumping around states and transitions. A Behaviour Tree can be read either as a vertical tree with top down and left to right or a horizontal tree left to right and top down.