Hi there,
In some mission, the objective “Scan area” is not placed at the same spot than the visual clue.
I found this one only with luck…
And on other soldiers the most left icon is wrongly colored in yellow/orange…
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Are you playing the latest version? 1.7.3? I am pretty sure this was fixed with Phoenix Point v. Necronomicon 1.7 - 26/08/2020.
If you are playing the latest version then please report it by pressing F12 in-game after the problem occurs and send us a report. That way we will get your settings, logs, saves, etc.
I have seen this a number of times. Where the Objectives Glowy, is covered by furniture, or terrain you have to destroy, to get at and complete the mission. 
I imagine some Collision Mechanic could be developed to keep this from happening, if the placement of Objectives is random on the map.