How to replicate this motion lighting feature in RM?

With what rule? Neither mine nor the one by @bobbles would have that problem. As I mentioned, with my rule, a re-trigger cancels any "Wait" (and all actions after it), and motion active is the trigger--so not a problem. With the "changed" trigger in the other rule, the "IF THEN" section in the conditional handles the "active" case, which cancels the delayed "off" action, so also not a problem. I'll again suggest the docs for more examples and explanations of how this works.

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