Starcraft and Warcraft are known for one thing at a time unit behavior. Starcraft units don`t shoot and move at the same time, it`s either one or the other. Total Annihilation units can shoot while moving (some units can even aim and fire at several targets at the same time), The TA version is more difficult to implement than the Starcraft approach. Animation wise TA units and real life robotics resemble.
I will also add a sentence about my progress. I managed to get Collision Detection working properly. I also added some code to the event pipeline. If a collision takes place the unit stops and goes back to the last stable position (last node). Initially I made a separate function to move the unit back shortly after I realized I can do the same thing using my usual Walk function, just edit some parameters to achieve that. Last thing I did was to import a map containing the positions of all other units at the moment when collision detection took taken place.
You just need some basic inverse kinematics e.g. to aim the gun at a target while playing back the running animation.
Physics can be ignored, so there is no need for robotics.
There is no need for accuracy either - the projectile can use a different launch velocity to hit the target, even if the gun model failed to aim precisely.
The IK stuff has almost only a visual purpose here, so you can keep this on the bottom of your todo list.