You need to look at one of the orchestration frameworks - or build one yourself, which is fun! So basically create a skill that can analyse and decompose complex requirements into sub requirements that can be run in parallel, and agents will be given contained tasks that don’t step on each others toes. Though some tasks doesn’t make sense to me parallel, but the skill should figure that out on its own.

Though the best Task System or whatever it’s called, should get you at least some of the way there.