End of Behavior Semantics Needs Clarity

Summary:

"until" is the clear winner for clarity when many behaviors end.
However, an end to behavior is "not as clear" about behaviors that have a "target" through natural definition (i.e. change_lane). This should be more prominent in the Action definition / modifier definition.
However, an end to behavior is "not as clear" about behaviors that have an "at: end" defining a target; many believe this is an end to a behavior. Can we make sure to clarify this point? This is very important.