magento-test/app/code/Magento/Checkout/Test/Mftf/ActionGroup/GoToCheckoutFromMinicartActionGroup.xml

<?xml version="1.0" encoding="UTF-8"?>
<!--
 /**
  * Copyright © Magento, Inc. All rights reserved.
  * See COPYING.txt for license details.
  */
-->

<actionGroups xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
              xsi:noNamespaceSchemaLocation="urn:magento:mftf:Test/etc/actionGroupSchema.xsd">
    <actionGroup name="GoToCheckoutFromMinicartActionGroup">
        <annotations>
            <description>Clicks on the Storefront Mini Shopping Cart icon. Clicks on 'Proceed to Checkout'.</description>
        </annotations>

        <waitForElementNotVisible selector="{{StorefrontMinicartSection.emptyCart}}" stepKey="waitUpdateQuantity"/>
        <wait time="5" stepKey="waitMinicartRendering"/>
        <click selector="{{StorefrontMinicartSection.showCart}}" stepKey="clickCart"/>
        <click selector="{{StorefrontMinicartSection.goToCheckout}}" stepKey="goToCheckout"/>
    </actionGroup>
</actionGroups>