Select last value before date in query

I am trying to run a query between 2 tables where I need the Start Date Final Date BEFORE the Milestone 1 Final Date BEFORE the Milestone 2 Finish Date

What I want the data to look like

I tried a min value won't always work between 2 dates because I don't want the minimum value, I want the value with the minimum date

Calculate date before Milestone

(select max(t1.date) maxdt from table1 t1 where t1.id=t2.id 
                    and t1.date<t2.date)

There t2.date - Milestone date. Maximum date before Milestone - maximum t1.date where t1.date<Milestone date.

Then take value at this date

(select max(value) from table1 t1_2 where t1_2.id=t2.id 
      and t1_2.date=(select max(t1.date) maxdt from table1 t1 where t1.id=t2.id 
                    and t1.date<t2.date)

Select value or max(value), if may be more then one row with this date.

See example

select ID,MileStone 
  ,case when Milestone in ('Start','Finish') then -- take value for current date
    (select max(value) from table1 t1_1 where t1_1.id=t2.id 
      and t1_1.date=t2.date
    )
   else
    (select max(value) from table1 t1_2 where t1_2.id=t2.id 
      and t1_2.date=(select max(t1.date) maxdt from table1 t1 where t1.id=t2.id 
                    and t1.date<t2.date)
    )
  end Value
  -- ,date
from table2 t2