Impede

When this model declares an Attack of Opportunity with a Melee Attack against a non-Engaged model, that model’s Movement ends at the point of the Attack and the target becomes Engaged immediately.

Community Answers (Discord)

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Q: If I break Engaged with Hit and Retreat, can a model with Impede re-engage me?

A: Yes. As soon as Engaged is dropped via Hit and Retreat, a model with Impede that is in melee RCH can declare an Attack of Opportunity, which — thanks to the Impede ruling — instantly re-applies the Engaged state and stops the model. (— Dockel)

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Q: Can Impede be triggered just by declaring intent to attack?

A: No. For Impede, "the point of Attack" means the attack must actually be happening — Impede can't be procced by merely announcing intent. (— Dockel)