After reading the rule book like 3 times I am still unusure about hanging during autonomous. My question is that if we hang in autonomous so that we have a better chance to get the autonomous win. Can we still hang in end game? And by that I mean would we still get the 12 points for high hang during endgame, even though we already hanged in autonomous?
Yes, this is legal. Please see the following previously answered question for more details.