Rinus,
Here is an example, extracted from my layout:

This my synoptics. We are going to inspect only a small part of it, i.e. one hidden yard composed of blocks BLoad1, Bload2, Bload3, and 2 others blocks BLow1 & Blow2.
This subset will allow some automatic movement on the lower oval and the 3 lanes of the hidden yard...
The setting of turnouts and sensors are not illustrated, as you know how to do it.

Block BLoad1 (details tab), with a fixed (minimal) stop duration in auto mode = to 5 sec.
The speed block is set to Vmid (except when replaced by a different route speed - see later)

Block Bload1 (route tab). Please notice the route are autogenerated with the "Analyze" feature.
What is interesting here is the declaration of 2 sensors associated to the block, and used by the route entering the "+" side of the block (line "all" selected).
Sensor r1-5 triggers the event "enter2pre" immediatly and set the speed to Vmin; Sensor r3-1 triggers the event "in" 700ms _after_ the sensor has been fired (event timer 2) and the train stops...for at least 5 sec (maybe more if the next forward block is not free)

Block BLoad2 (route tab). The details tab (not illustrated) is based on the same principle as of Bload1

Block BLoad3 (route tab)...Idem

Block BLow1 (details tab). No systematic wait time (i.e. if the next block is free, the train won't stop)

Block BLow1 (route tab). There is only one sensor (r1-6) associated to this block and the sensor generates the event enter2in. In that case, the "enter" event is generated immediatly when the sensors becomes active, and 800ms after (event timer1) the "in" event is generated. The train will stop when the "in" event is fired only if next block (BLow2) is not free.

Block BLow2 (details tab). Same principle as BLow1.

Block BLow2 (route tab). Same principle as BLow1.
And now the routes (only a few)...

Route from BLoad2 to BLow1. Use the speed associated with the destination block

This tab shows how the turnouts will be set...

Route from BLow1 to BLow2. Same as previous. I don't show the "switches" tab, because it is empty.

Route from BLow2 to BLoad1. Please notice here the speed of the route, which is 35% of VMax (for not being too speedy when entering the triple turnout to go to BLoad1). So this speed will come into effect when the train will exit from BLow2

How the triple turnout will be set, to go to BLoad1
Now put 3 locos, one each on BLoad1, Bload2, Bload3, drag and drop the name of the locos to the blocks, set auto mode "on" and "start all"...
You'll see your locos running automatically, stopping on the blocks declared with a wait time and choosing randomly available routes...
Have fun
Fabrice