Fool the game into making a "combat" objective?

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I was wondering if there was a way I could incorporate "combat" into the Simpsons hit & run. What I mean is a ambush stage where you have to destroy a couple wasps. Is this a good idea, can it be done?

Thanks,

Hipporeno
Theoretically by using a goto stage, though it's absolutely horrific and wouldn't work in almost all circumstances.