However, if reparameterization can *not* happen at the planning time, we have chosen a plan which can not be realised meeting a dead end. So as long as we can ensure that the reparameterization is possible we can delay actual translations. I think it should be possible to decide whether reparameterization is possible based on the type of path alone. So seems doable.
That has been done in v2 patch. See the new added function path_is_reparameterizable_by_child().
