What is the definition of being latched onto a goal? like, is pressuring something classed as latching?
There is no VEX Gateway specific definition of being latched/attached to a goal. However any interaction with any field element which involves grabbing, grasping, grappling or attaching, will be heavily scrutinized by the referees for violations of <S1>. In general, behaviour like this will not be permitted. Please see the following previous Q&A for details:
https://vexforum.com/t/answered-attaching-onto-goals/19708/1