In the top right flight control you can 'Stop' and 'Continue' the flight. This does not allow you to make location changes. On some aircraft it will allow you to change the position of the aircraft while the mission is stopped.
If you actually leave the programmed flight mode to take evasive action you will need land and restart using the Abandonment Point or Manual Restart Point.
So, yes, "go through the Pre-Flight and Start process" means you have to land and start over.
We usually recommend stopping the mission and observing the other aircraft to see if any changes in position will be required. This is harder to do the closer you are flying to where other aircraft are.