How to use A Coroutine to wait for OnTriggerEnter

a

Well, you could do something like this:
boolean set to false by default
ontriggerenter sets it to true
in your coroutine:
yield return new WaitUntil ( () => didTriggerEnter);

@Volks42 , since OnTriggerEnter is an Event callback I would recommend that you use it to set a boolean flag variable from false to true. In FixedUpdate test the boolean and if it is true then do whatever needs to be done. The following needs to be in a class that inherits from MonoBehaviour.

bool triggerHit;

void Awake()
{
    triggerHit = false;
}

public void OnTriggerEnter(Collider myCollider)
{
    triggerHit = true;
}

void FixedUpdate()
{
    .
    .
    .
    if(triggerHit)
    {
        // do whatever here...
        triggerHit = false;
    }
}