To reproduce:
1. Create an ActiveMQ provider:
    In global Jenkins configuration under "CI Monitor" "JMS Messaging Providers" add an ActiveMQ provider.
    Enable "Use queues rather than topics."
    Set the provider name to e.g. "Provider1".
    Set other parameters as appropriate and save the configuration.
2. Create a pipeline project (other types may not work, bug https://issues.jenkins-ci.org/browse/JENKINS-61179).
3. Add a script that would only send a message to the provider created above:

pipeline {
agent any
    stages {
        stage('Hello') {
            steps {
                sendCIMessage failOnError: true, messageContent: '',
                  messageProperties: '', 
                  messageType: 'TestingStarted', 
                  overrides: [:], providerName: 'Provider1'
            }
        }
    }
}

4. Check the ActiveMQ server – a topic has been created rather than a queue.

Setting a different queue with "overrides" parameter does not help – the message still goes to a topic with the same name.

"waitForCIMessage" correctly works both with queues and topics.