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You can set a "Waiting For" context to be on hold, but it is not necessary to do so -- very much a matter of personal preference!

If you don't like the behavior you get with contexts that are on hold, try it the other way (waiting contexts not on hold) and see if you prefer it that way. You trade off being able to see those actions in a normal "available" view against not having actions which are not actionable for you hidden, though you can possibly use start dates to hide them. If you like to see the actions that are blocking further progress, don't put the waiting context on hold.