Auto populate lookup column with a link to item

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We are in process of moving our old SharePoint forms (using SharePoint Designer and InfoPath) to new SharePoint Form.

 

We have two SP lists: QC Complaints and Tasks.

 

For each QC Complaints record we have a single or multiple tasks. Using lookup we can assign Tasks record to QC Complaints record fine. What we trying to do now is to automatically display the Tasks records associated to a QC Complaints record with a link to that task. We been using lookups with linked to item option, but it looks like it requires a manual input to select the task. 

 

Has anyone experienced similar issue with lookup and linked to item option?

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