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If your fleet was on Manual, the default engagement range is set to Nearby (5000). They will not engage other bastions that are more than 5000 away if left to that default setting, even if they're getting shot at.
They typically start engaging other targets when the current target is about to blow, a method to reduce overkill. Even a manually controlled fleet will do this to some degree.
This is an expected behavior of less-than-"Location" engagement range when engaging a non-specific Attack Target like a colony. This command does not override engagement range.
They should not be idling if enemies are in that range. Assuming you are at war with the target.
If they are idling with targets in range, try saving and restarting the game. If they still idle, consider if the system is being overworked: do research projects complete about when expected, or is it delayed by a month or more; if so, system is overloaded, consider slowing the game down or making a new, smaller galaxy to play with.
If they are inexplicably not engaging targets in range when they should and the system isn't overloaded, please make a bug report.
I also would encounter problems with fleets not engaging other fleets after the first enemy ship was destroyed in early game. That was on manual however. The ships would idle instead. It was the same for the enemy fleet.
Also, if empire policy is set to soften up targets, fleets shoulden't bombard any longer then 50% of defences destroyed. My fleets would not stop bombardment untill defences are nearly destroyed.
I haven't really tried the bombardment policies yet. Always have manually controlled bombardment. I'd suggest getting a save of the fleet bombing far more than specified in the policies and send that as a bug report on Discord or in tech support.
Entire fleets idling when they should be fighting, *as far as I've seen*, only happens when the system is overloaded or when the engagement range is too small. If its only a few ships idling, don't mind it too much- they're still fighting, just not very efficiently.
In other words, if an entire fleet is idling and it isn't one of those two cases and restarting doesn't fix it, also make that as a bug report. Unless someone else has seen that and can weigh in with another possible cause!
Just to be clear though, you're not getting a feeling the game is bogging down in midgame in any other way, right? Someone else said they were getting that (I'm not observing that).