Could Matthew 28:18-19 be translated in the Koine Greek to be an exhortation and not a commandment as some may think?

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“Go therefore and make disciples of all the nations, baptizing them in the name of the Father and the Son and the Holy Spirit,”

Could this mean, ”while you are going out and about or while you are on your way do these things”, or ”while you’re just living your life in the daily grind, do these things.” If so, does it make a difference?

Verb, Participle, [Case], [Number], [Gender], [Tense], [Voice]

[Go] is: (VPNPMAD) Verb, Participle, Nominative, Plural, Masculine, Aorist, Deponent

Verb, Finite, [Person], [Number], [Tense], [Mood], [Voice]

[make disciples] is: (VF2PAVA) Verb, Finite, 2nd Person, Plural, Aorist, ImperatiVe, Active

Verb, Participle, [Case], [Number], [Gender], [Tense], [Voice]

[baptizing] is: (VPNPMPA) Verb, Participle, Nominative, Plural, Masculine, Present, Active

Koine Greek Translation: Verb Tenses in verse 19 = Aorist, Aorist and then Present.