diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp
index 68bd5d79dc2f1aac9ff6a8a156976554319c3cdc..6a847a7bc5429c1f6015c1420c69f5576adab4dd 100644
--- a/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp
@@ -141,7 +141,12 @@ TEST_F(BackUpActionTestFixture, test_tick)
 
   tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
   EXPECT_EQ(config_->blackboard->get<int>("number_recoveries"), 0);
-  EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::RUNNING);
+
+  while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
+    tree_->rootNode()->executeTick();
+  }
+
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_EQ(config_->blackboard->get<int>("number_recoveries"), 1);
 
   auto goal = action_server_->getCurrentGoal();
diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
index d4a3a54f4d9c77cd6378fd7ec9c8658572df1cf7..d5d1cd6621ad625d9e8399d0371fb3b980ff98fb 100644
--- a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
@@ -128,17 +128,17 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick)
   goal.pose.position.x = 1.0;
   config_->blackboard->set("goal", goal);
 
-  // first tick should send the goal to our server
-  EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::RUNNING);
-  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("GridBased"));
-  EXPECT_EQ(action_server_->getCurrentGoal()->pose.pose.position.x, 1.0);
-  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("GridBased"));
-
   // tick until node succeeds
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
     tree_->rootNode()->executeTick();
   }
 
+  // the goal should have reached our server
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("GridBased"));
+  EXPECT_EQ(action_server_->getCurrentGoal()->pose.pose.position.x, 1.0);
+  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("GridBased"));
+
   // check if returned path is correct
   nav_msgs::msg::Path path;
   config_->blackboard->get<nav_msgs::msg::Path>("path", path);
@@ -153,13 +153,13 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick)
   goal.pose.position.x = -2.5;
   config_->blackboard->set("goal", goal);
 
-  EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::RUNNING);
-  EXPECT_EQ(action_server_->getCurrentGoal()->pose.pose.position.x, -2.5);
-
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
     tree_->rootNode()->executeTick();
   }
 
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+  EXPECT_EQ(action_server_->getCurrentGoal()->pose.pose.position.x, -2.5);
+
   config_->blackboard->get<nav_msgs::msg::Path>("path", path);
   EXPECT_EQ(path.poses.size(), 1u);
   EXPECT_EQ(path.poses[0].pose.position.x, -2.5);
diff --git a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
index 7ca9f65876625a4f25e14910880626816a17137b..9c3c67fe4e7468924f5508747ba220e3a03772a5 100644
--- a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
@@ -126,18 +126,17 @@ TEST_F(FollowPathActionTestFixture, test_tick)
   path.poses[0].pose.position.x = 1.0;
   config_->blackboard->set<nav_msgs::msg::Path>("path", path);
 
-  // first tick should send the goal to our server
-  EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::RUNNING);
-  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("controller_id"), std::string("FollowPath"));
-  EXPECT_EQ(action_server_->getCurrentGoal()->path.poses.size(), 1u);
-  EXPECT_EQ(action_server_->getCurrentGoal()->path.poses[0].pose.position.x, 1.0);
-  EXPECT_EQ(action_server_->getCurrentGoal()->controller_id, std::string("FollowPath"));
-
   // tick until node succeeds
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
     tree_->rootNode()->executeTick();
   }
+
+  // the goal should have reached our server
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("controller_id"), std::string("FollowPath"));
+  EXPECT_EQ(action_server_->getCurrentGoal()->path.poses.size(), 1u);
+  EXPECT_EQ(action_server_->getCurrentGoal()->path.poses[0].pose.position.x, 1.0);
+  EXPECT_EQ(action_server_->getCurrentGoal()->controller_id, std::string("FollowPath"));
 
   // halt node so another goal can be sent
   tree_->rootNode()->halt();
@@ -147,13 +146,13 @@ TEST_F(FollowPathActionTestFixture, test_tick)
   path.poses[0].pose.position.x = -2.5;
   config_->blackboard->set<nav_msgs::msg::Path>("path", path);
 
-  EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::RUNNING);
-  EXPECT_EQ(action_server_->getCurrentGoal()->path.poses.size(), 1u);
-  EXPECT_EQ(action_server_->getCurrentGoal()->path.poses[0].pose.position.x, -2.5);
-
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
     tree_->rootNode()->executeTick();
   }
+
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+  EXPECT_EQ(action_server_->getCurrentGoal()->path.poses.size(), 1u);
+  EXPECT_EQ(action_server_->getCurrentGoal()->path.poses[0].pose.position.x, -2.5);
 }
 
 int main(int argc, char ** argv)
diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
index b36eca9cb1e2320b02f56b976f8ba74c6c5f6b1c..7ea3e858f8dfedfe8f9a0050a46f03821ee12eb8 100644
--- a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
@@ -123,15 +123,14 @@ TEST_F(NavigateToPoseActionTestFixture, test_tick)
 
   geometry_msgs::msg::PoseStamped pose;
 
-  // first tick should send the goal to our server
-  EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::RUNNING);
-  EXPECT_EQ(action_server_->getCurrentGoal()->pose, pose);
-
   // tick until node succeeds
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
     tree_->rootNode()->executeTick();
   }
+
+  // goal should have reached our server
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+  EXPECT_EQ(action_server_->getCurrentGoal()->pose, pose);
 
   // halt node so another goal can be sent
   tree_->rootNode()->halt();
@@ -142,13 +141,11 @@ TEST_F(NavigateToPoseActionTestFixture, test_tick)
   pose.pose.orientation.x = 1.0;
   config_->blackboard->set<geometry_msgs::msg::PoseStamped>("goal", pose);
 
-  EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::RUNNING);
-  EXPECT_EQ(action_server_->getCurrentGoal()->pose, pose);
-
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
     tree_->rootNode()->executeTick();
   }
 
+  EXPECT_EQ(action_server_->getCurrentGoal()->pose, pose);
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
 }
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp
index 7bc1166e6734aeba5746d5e09e004217f6870a50..f3d0b3d913d6f267444a258bbc52e0b1de414e9a 100644
--- a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp
@@ -139,7 +139,12 @@ TEST_F(SpinActionTestFixture, test_tick)
 
   tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
   EXPECT_EQ(config_->blackboard->get<int>("number_recoveries"), 0);
-  EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::RUNNING);
+
+  while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
+    tree_->rootNode()->executeTick();
+  }
+
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_EQ(config_->blackboard->get<int>("number_recoveries"), 1);
   EXPECT_EQ(action_server_->getCurrentGoal()->target_yaw, 3.14f);
 }
diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp
index e6eea62a3040a69fb82a4578a96f9999a62f1c66..193395f940173bd37c8442dcf2c1331c27f93355 100644
--- a/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp
@@ -140,7 +140,12 @@ TEST_F(WaitActionTestFixture, test_tick)
 
   tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
   EXPECT_EQ(config_->blackboard->get<int>("number_recoveries"), 0);
-  EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::RUNNING);
+
+  while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
+    tree_->rootNode()->executeTick();
+  }
+
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_EQ(config_->blackboard->get<int>("number_recoveries"), 1);
   EXPECT_EQ(rclcpp::Duration(action_server_->getCurrentGoal()->time).seconds(), 5.0);
 }