When an issue hits Step 2 in the workflow, I want to be able to transition it to Step 4 if there are no sub-tasks of a specific type. I want to bypass Step 3. Is this possible?
It's possible! You will have to put a post-function in the "Step 2" transition that will do what you want. There are several add-ons that can accomplish this. Try the JIRA Misc Workflow Extensions, JIRA Suite Utilities or the JIRA ScriptRunner which allows you to add a custom code in the post-function which means, it can basically do whatever you want (code limited).
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