The Behavior Designer – Movement Pack includes 17 tasks focused on movement. The default set of Movement Pack tasks use Unity’s navigation mesh to traverse . . .
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Yellow means that another object is blocking the raycast. Do you have another object in the way? Maybe it's the second box collider? I would try with the most simple case to see what the issue is and then go from there. You should not need to use both a layer and a tag - only one is necessary.