As @TheColdedge and @Gear Geeks said, "match affecting" is a tough call. In a Q&A, @Blatwell asked whether score was the only criteria for match affecting, or whether the lost time could also be considered. The official answer is the refs can also consider lost time.
The most important part about that is the allowance that something other than raw final score can be considered in the match affecting determination. Hopefully, they'll apply that in other situations as well.
But here's an example of a situation that a re-interpretation of "match affecting" won't change: In a match video linked earlier in the season, it looked very clear that one robot knocked another over in a pretty purposeful way. The ruling at the competition was that the toppling wasn't match affecting. It happened near the end of the match, and no points were scored or prevented; it simply couldn't have shifted the winner.
The implication of that is basically anything goes if it doesn't move the score. I don't know if that's what the GDC intended, but it sounds like a bad idea.
In the example I cited earlier, if the toppled robot was damaged in the fall and couldn't compete in the next competition, the effect would have been real and detrimental, but still not "match affecting" in the match where it occurred. Some thought should be given to how such situations should be handled.
In the video which prompted @323G_RIOT's question, it sure looks like a long time to hold on to an opposing mobile goal. I understand that it was accidental and that they were trying to dislodge the goal. While I understand the idea (but do not wholly agree) that blue was unlikely to outscore red even if the goal was available, I think that's a troubling determination for a referee to have to make.
So we're asking refs to figure out the intent of the driver as well as whether one team would have outscored another in a hypothetical match played in the ref's head...
Seems like a pretty big ask.