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I have found a way to do it with Cura 4.7.1.
I used the "Pause at Height" command with the BQ (M25) option (found under Extensions/Post Processing/Modify G-Code). To make it pause correctly, you also need to add something to the "G-code Before Pause" command line -- I added M300 so it would beep when it was ready. If you leave it blank then the printer will only pause and then restart on it's own.
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With this method the printer did a hard pause at the parked position and did not restart on it's own. I was able to do a filament change. However, I did make one additional change to the gcode to make it successful. I had to comment out the last extruder advance (that was set to reverse the "Retraction" entry), else it pushed a big blob out just as it started to print.
;script: PauseAtHeight.py
;current layer: 3
M83 ; switch to relative E values for any needed retraction
G1 F1500 E-10
G1 F300 Z1.8 ; move up a millimeter to get out of the way
G1 F9000 X190 Y190
G1 F300 Z15 ; too close to bed--move to at least 15mm
M104 S0 ; standby temperature
M300
M25 ; Do the actual pause
M109 S200 ; resume temperature
G1 F1500 E10
G1 F1500 E-10
G1 F300 Z1.8
G1 F9000 X122.478 Y111.115
G1 F300 Z0.8 ; move back down to resume height
;G1 F1500 E10 I commented this line out
G1 F1500 ; restore extrusion feedrate
M82 ; switch back to absolute E values
G92 E338.46292
;LAYER:3
I was also able to get it to hard pause by adding text to the "Display Text" box, however, this extruder would move to the park position, briefly pause, and then move back to ~1 mm above the start print position before it would hard pause. It was very difficult to change the filament in this position without making a mess.
Hope this helps!
Dennis