My idea of how the solution might be

so, we need to know if the actor that is going to be grab is in front of me , there I use a linetrace for object , the object would be an static mesh .
the actor that can be grabbed might have a bool variable to check if it grabbed : it can be move with the player, if not , thats it , stay at the floor ready to be grabbed.
the player surely must need a bool that check if is grabbing some object that cant grabbed another one. and also we use this bool for the key pressed for this action.
Its more difficult to write it down than make it on blueprints haha .
And this is even easier if we use an interface for the object and the player.

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