Is there any reason why the port namesID andname are reserved ?

There are a lot of valid cases wherename is the perfect choice for a BT port... If it's needed internally I would suggest adding underscore at the beginning like you did with_autoremap.

This feels redundant...

<BehaviorTreeID="MainTree">    <Sequencename="root">        <CreateTasktask_name="pick and place"task="{task}" />    </Sequence></BehaviorTree>

Much better !

<BehaviorTreeID="MainTree">    <Sequencename="root">        <CreateTaskname="pick and place"task="{task}" />    </Sequence></BehaviorTree>