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In Excel you can make a combo chart with two series and have an "outer bar" vs an "inner bar" (goal vs percent reached) such as this:
I didn't see how to do this with the Power BI chart tool is this possible?
Default clustered bar visualization won't do this exactly, it will put the Yellow and Blue bars next to one another with "A" as the grouping essentially. You would want to put your A B C D E in the axis and the "Two, One" as your legend.
You might find a custom visual that will do it, but I didn't see one.
https://app.powerbi.com/visuals/