Despite its importance in both industrial and service robotics, mobile manipulation remains a significant challenge as it requires a seamless integration of end-effector trajectory generation with navigation skills as well as reasoning over long-horizons. Existing methods struggle to control the large configuration space and to navigate dynamic and unknown environments. As a result, mobile manipulation is commonly reduced to sequential base navigation followed by static arm manipulation at the goal location. This simplification is restrictive as many tasks such as door opening require the joint use of the arm and base and is inefficient as it dismisses simultaneous movement and requires frequent repositioning.