Add an action of SEND TO ERP

There are MANY times when the "workflow" has been approved, but then we send a subcontract, PO, Bill, Invoice, etc. for eSignature and we get a request for revisions or corrections. If the workflow was already approved, the item automatically sends to ERP. If corrections are needed, there are steps to unsynch, delete in one system, abandon workflow, unlock, etc. It would make sense to me that after internal workflow is approved, and after the eSign is fully executed, then we would "Send to ERP". Please let me know if you need more clarification.