Simple suggestion, use the fallback timer from rush for FL and invasion, where objectives don’t light up until the timer reaches 0, and whoever’s left in the non-fallback zone slowly dies until they leave the new enemy base. Once all enemies that are in the zone leave or die, the next set of objectives will spawn. This would give defending players much needed time to set up their defenses, whilst also making it harder to speedrun objectives. (Essentially, shifting some of the balance towards the direction of defending players.)
(I know rush’s fallback system is currently the enemy base death timer, but I think the damage over time would be better as it would allow retreating players to fight back whilst still having a downside for not leaving the area if they stick around for too long. On top of this invasion’s system currently allows the defending team to steal enemy vehicles and spawn camp, so maybe having the damage over time effect if you go too far would discourage this.)