Some points that people brought up...
That woman is not Tyreese's daughter or wife, it is his sister.
Andrea hid behind the door, the zombies flooded out and after the Governor.
I assume Andrea didn't take the truck because after what happened at the prison, Rick's group will most likely fire on cars driving up. If I'm not mistaked that truck was the one they used on the prison assault.
Milton probably knows some ways in/out of Woodbury without being noticed, and if you can't get behind that logic then how about he just told the guards that he was going to look for the Governor since he wasn't back yet. If you can't get behind either of those then I don't know.
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