(a & F a) is equivalent to a since a implies F a.
Here is a path made by the teaching tool satisfying S2 = XXG((a ⊕ Xa) ∧ (b ⊕ XXb)) where
q0 = X a
q1 = X b
q2 = X X b
q3 = G((a ⊕ Xa) ∧ (b ⊕ XXb))
q4 = X G((a ⊕ Xa) ∧ (b ⊕ XXb))
q5 = X X G((a ⊕ Xa) ∧ (b ⊕ XXb))