<G7> Clarification, hexballs leaving the field

From the manual:

<G7> Hexballs that leave the playing field will be promptly returned to the playing field at the location nearest the point at which they exited. If the nearest point to which it exited is in a Goal it will be returned to a spot that is adjacent to and not in the Goal.

If a robot on the blue side throws an orange hexball over the orange goal, will it then be placed promptly in front of the orange goal?

Yes, this is correct.