"Kami menunggu serangan mereka."
Translation:We wait for their attack.
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Even past tense here makes more sense. 'Menunggu' itself is more suitable as a verb -ing.
The only context that I can think of where it is possible to use 'we wait for their attack' is: - When someone advise the strategy to the others in the group: "(then) we wait for their attack." > it will be translated: "Kita tunggu serangan mereka" (inclusive 'we').