All possible functional Robot configurations must be inspected before being used in
So, if you build such a robot, you should have it inspected in all the configurations you plan to use at the beginning of the day, and then you’re good (provided you pass in all configurations and don’t violate <R1>).
Generally accepted practice is to have your entire robot inspected in its various configurations. That is, get inspected in one configuration, then reconfigure it, then get re-inspected. Yes, this can all be done during the normal inspection period, regardless of when you plan to use the various configurations.
Do note, though, that certain components like your drive base should not be swapped, and your robot should be recognizable as a single robot, throughout all its configurations, by event staff/volunteers that may have no prior knowledge of your robot.