"We need her, and so we are waiting for her."
Translation:Potřebujeme ji, a proto na ni čekáme.
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In this sentence there definitely is. Počkat is a perfective verb (it forms the other half of the perfective/imperfective pair with čekat), and so what looks like its present tense has the future meaning. If your answer included something like "a proto na ni počkáme", you were really saying "and so we will wait for her".