Problem
On an integrated roadmap, users may receive an error of "Milestones cannot be assigned to header values from an integrated field" when trying to add a milestone. This is because you cannot assign milestones to a field synced from an integration.
Solution
To still be able to add milestones, you can create a Strategic Roadmap field on your roadmap specifically for milestones and create the milestones accordingly.
Another option would be to create the milestones without headers and use them in an unfiltered view as such: