This is a follow-up question to this previous post that doesn't seem like it was ever truly answered with more than a "this looks promising":
Jenkins how to create pipeline manual step.
This is a major functionality gap for CICD pipelines. The current "input step" of declarative (1.2.9) requires the whole pipeline to have to wait for the input step before the pipeline is completed (or have a time-out that won't allow you to re-trigger later). Depending on how agents are scoped it can also hold up an executor or require you to have to start up a new slave for every build step.
This is the closest I've come to a solution that doesn't eat up an executor (pipeline level "agent none" with agents defined in all stages described here: https://jenkins.io/blog/2018/04/09/whats-in-declarative/) but starting a new slave for every build step seems time wasteful and requires additional considerations for persisting your workspace. The final solution offered was to throw a "time-out" for the input, but this still doesn't work because then you can never move that build to stage later and will need to re-build.
Any solutions or suggestions here would be very appreciated.