I have come up with a third redesign which should fix many of the problems. It still has a DR4B to score cubes on towers and release the stack that it is holding. The design now has a four bar for two reason: to have a better center of gravity when driving around and to open the passive intake. The extending reverse stacker is a simple 2 stage mechanism using vex sliders.
The Ultimate Passive Intake is made of two pieces with mesh. The pieces are free to move up to let the cubes in. Then they fall back down and hold the cubes. The force pushing down the cube will also push down the two intake pieces, but since they pivot this will cause them to also push inward. The intake will release the cubes when the four bar goes all the way out.
If this intake works it will be able to hold cubes with variable force based on how many cubes there are.
I am interested to hear your thoughts and ideas about this concept and how to improve it.