In a conventional FSM yes but not a statechart. Statecharts support parallel regions within a single state. You’d have 3 regions for your example: one waiting for each person. There would be 4 states total: one to wait on each person, each in its own region, plus the superstate. The superstate would exit when all 3 “waiting for person <x>” sub states exited, independent of their sequence.

I’m with you on Petri nets though, very helpful for modelling concurrent behaviour.