This could be an early meta.
We are going to use a differential PTO to power #1, A lift for the game objects to go on the stand-off goal, and #2, An arm used to place beams onto a stack of 2 or 3. We have a 2 motor 2:1 4-wheel drivetrain (our bot is very heavy). We use the last 2 motors for a reverse slide that lifts an acorn and drips it into a claw that is raised. (It is not complete, just giving some ideas.)
It will lift the pin something like this: (it is in slo-mo)
A full robot reveal will come out on our YouTube channel soon: https://www.youtube.com/@HighVoltageRobotics76782A