There’s a ‘Child By Name’ field that can be used for this.

• In the report writer, insert ‘Child By Name’ field into the report.
• Put the name of the Milestone (eg ‘Statuary completion date’?) in the ‘Format’ row.
  Note: The case must match the name of the milestone and there needs to be no leading or trailing spaces.
• In the ‘Linked Field’ row, click to open the Add Field dialog
• Select the ‘Actual Finish Date’ field or whichever date was required.
• You can repeat steps 1 to 4 for other fields you wish to use.