In this work, we synthesize control for high-level, reactive robot tasks that include timing constraints and choices over goals and constraints. We enrich Event-based Signal Temporal Logic by adding disjunctions, and propose a framework for synthesizing controllers that satisfy such specifications. If there are multiple ways to satisfy a specification, we choose, at run-time, a controller that instantaneously maximizes robustness. During execution, we automatically generate feedback in the form of pre-failure warnings that give users insight as to why a specification may be violated in the future. We demonstrate our work through physical and simulated multi-robot systems operating in complex environments.