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i found the v1 docs but don't see anything or cant find with 2.0

Have you tried <https://docs.prefect.io/concepts/tasks/#wait-for|wait_for>?

My issue with wait_for is that I am unsure if it will kick off the downstream task in parallel

Is there a reason why you would like to set up the downstream task if you want to run it in parallel with the upstream task?