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High ground can block a units line of fire (especially if prone) since the area you can be hit extends beyond the area you can shoot from. IE, you can be shot at the back of your head but not physically get your gun in a position to shoot back.
If you assume bug though - report with location and screenshot. Complaining on the forum with nondescript hypotheticals that definitely are 100% legit if you don't own the game may help the devs know that "there are bugs somewhere" but won't help all that much in fixing them.
Often happens with wolfpacks, since their gun is mounted on their back if their body is behind a wall or a small mound, they can fire at you but you can't fire back directly. One of the rare cases grenade launchers are viable.
With how line of sight works prone infantry often cant return fire depending on terrain, on the other hand in some circumstances prone infantry cant be fired upon. Prone is good for concealing squads for ambushes, but stand them up to start the ambush. I generally avoid using prone when engaging to help ensure units will open fire, but if a squad takes fire or if i can see a squad is about to take fire, i will order them prone and smoke grenade.
Generally the enemy ai will continue to shoot at a target in smoke even if other targets are available, as long as the target in the smoke keeps firing at them. For example legion tanks can be baited with smoke clouded infantry to allow an ambush/emp from the flank.
Other times units can clip into various objects like shipping containers or sandbags making them untargetable with direct fire weapons but they can shoot out of them. Artillery and grenades/grenade launchers will still work against them.
Sometimes units will simply be aiming at a target in range they cant hit whilst getting shot at by a valid target, requiring you to order them to engage manually. Or your unit will be aiming at one member of an enemy squad they cant hit, instead of shooting an exposed member.
In some of the smaller buildings, or buildings with low slots, garrisoned troops can be shot at from certain angles without them being able to return fire. All buildings have different strengths and firing coverage. Example, many of the houses in Chihuahua, garrisons cannot fire out the sides of the building.
If one of your units is being attacked in one of these circumstances, smoke grenade to protect them and keep them in the smoke. Then use a different unit to engage from a different location/angle. Alternatively retreat, preferably with smoke grenade cover to force the enemy to advance to a position they can be shot at.
Generally speaking units engage fairly reliably on their own with you only needing to move them into position, but sometimes they do need micromanagement to start shooting.
I too have encountered vehicles merging, its hard to replicate, but mostly seems to happen when you give a move order to one vehicle, then order another vehicle to move to the same location, if they arrive at the same time they can get stuck inside each other. Or when several units try to use a narrow road to path to their destination, they can bump into each other pushing vehicles into each other. Rare, but happens sometimes. Every occurrence, when i eventually notice it, ordering one unit in one direction and the second in the opposite unmerges and frees them, though might take several attempts.
Like I said it's a really cool game but sometimes so many crazy things/bugs happen at the same time the mission becomes a complete disaster and when I load back to a previous autosave everything goes smoothly like a letter in a box, I have rarely seen a game with so much RNG.
I'm fairly certain if you toggle your stance to sword they will just engage in firefights yielding what you're asking. If I understood correctly without assuming its some bug or something.
Its like when you want a troop to throw smoke at a spot but haven't yet positioned them with line of sight so the smoke just hits the side of a building or whatever.
see if the Q attack move to their elevated position makes a difference too.
just my 2 cents. good luck