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Can you advance out of vehicle, to get on an objective and then perform an action?

No

Units who *advance* or *fall back* aren't eligible to perform any actions as page 258 from manual. Unless you have access to some form of rule/stratagem that allows it.

But if you mean disembark from a vehicle then move on the objective normally (your unit movement characteristic) thencan perform the action as long the other criteria of the action are meet.

Each Action tells you how and when it can be performed. And Advancing or Falling Back prevent you from starting an Action. Just read the rules carefully.

 Sazzlefrats wrote:
Can you advance out of vehicle, to get on an objective and then perform an action?

Also remember that the Core rules only allow you to Disembark a unit out of a vehicle before the vehicle in question moves. There are some vehicles that have special rules that allow a unit to Disembark during or after the vehicle's movement (Valkyries for AM and Impulsors for SM come to mind). So a squad of Assault Intercessors Embarked on a Impulsor (that made a Normal move) could Disembark at the end of the vehicle's move, move onto an objective and perform an Action. The Assault Intercessors themselves, however, could not Advance and then be able to perform an Action.

Whoa, I didn't realize there was a whole section devoted to actions.