Help with rules - shooting into engagement range (reupload cuz i forgot to add the picture last time)

I've read the rules for shooting while in engagement many times now, and this one has stumped me. I can't seem to find anyone else with the exact same question I have. And it's hard to describe so here's a picture and the question dumbed down. If anyone could help, that would be great. Can the riptide shoot at the rubric marines? Even though they are in engagement range with friendly units? Would that answer still apply if you swapped the Rubric Marines out with a Rogal Dorn Battle tank? Thanks!

https://preview.redd.it/t6gx3qwtcboe1.jpg?width=3024&format=pjpg&auto=webp&s=fc2dbaf267c07689b6eecbfcd88a9164d3f625dd