There is an issue with the 200-600mm and one of the a7r bodies, but I can’t recall which. The lens just doesn’t seem to like it and many people report focus issues with that combo.
However if that’s not it, then use single point, on the smallest setting, not any of the wide or expanded spot modes.
I use an a9 with that lens in dense woodland and don’t have many issues with it focusing anywhere else but where I want. Very occasionally if there is a branch in front of an animal it might, but not that often.
In the image below, the boar was actually behind a bush, and the cameras still focused on the boar fine, without any intervention from me. All the green bokeh was between me and the boar. I put the single focus point over the eye and used the back button as usual.