Is there a way to control the yaw via input from user while in mission mode?

Would there be a way, instead of switching from mission to position flight mode to remain in mission mode when using the left joystick for the purposes of adding an offset to the yaw? This is for a PX4 drone btw

In theory should be possible since Orbit-mode implements user correction for certain aspects while continuing the pattern.

In practice I don’t see it for mission mode since amy RC overriding basically exits mission mode.
This would be such a useful option though, I’m curious what others are thinking as well.^^