I do not know the most recent game manual, but based on historical events at worlds when I was competing, there have been VEX robots at events that drive around the pits for non-VEX competition purposes. For example, I brought a second VEX Robot at Worlds, solely to stand, unpowered, on the table and inside of a trophy-like appratus, and nobody raised an eyebrow because it was visibly a non-competition showpiece.
Looking at the rules, the most important factor is intent:
Part A: Teams may not compete with one Robot while a second is being modified or assembled at a competition.
Firstly, this rule exists to make a blanket statement that a team cannot build a second robot during the event for the sole purpose of competing. If the R1 ruling was stretched to have that implication beyond the literal, I doubt Worlds would have as much glamour:
If OP is worried and wants be absolutely 100% certain that the programming robot would be allowed, just make it out of FRC chassis or extremely high usage of 3D printed parts so it is incapable of passing any inspection, therefore making it clear that it’s not a robot that is meant for competition.