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Actually ''mod'' even fixes it and it's on Nexus caled ''Castle Stuck fix'' or something similar, use google people ;)
I had this 0% Castle mission stuck as well even after I killed synths. I'm not OCD soI just kept playing other missions. I can't explain why, but there's a mission (story, I believe) where we escort the huge robot across the city. Upon arrival after killing the enemies, I got that mission xp, and for whatever reason, the mission Defend the Castle popped as well directly afterwards.