If you use siege tower to go through yellow’s wall, the gate will stay locked. Therefore, you can’t go out after capturing the town.
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The campaign has been made before the Siege Tower been added to the game, so the desginers didn’t expect that. I meet this bug before, since player cannot change the diplomatic stance, so I made a Mangonel to “Attack ground” at the gate to destroy it. (and I forgot to report this bug)
you can report this bug in “Report a bug”:
https://forums.ageofempires.com/c/age-of-empires-ii/aoe2-de-bugs
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