I know that this is a little late, but I’d like to address some things about this design. This was actually the first design style I thought of, but I eventually moved away from it for a few reasons.
So one of the problems is intaking them as you mentioned. You could do a standard top down roller intake, but that is going to have trouble spitting them out the front, as they may not go directly out the front. They may also not go out perfectly straight out the back, making scoring hard. If all you have is a top down roller at the front, then the only way to push them out the back is if you intake more, pushing the others out. You could do a standoff roller on tread, but then you have to deal with somehow unfolding that and still with getting it past the wide roller, assuming you do something similar to what I posted early season:
The second is the biggest problem with this design, I think.
It has to do with the placement of the mobile goal lifts. Basically, the front one would be completely blocking the intake. You could make it so that the intake goes underneath the front lift, but then you would have to move the mobile goal lift forwards and backwards somehow every time you wanted to raise and lower the lift.
These are just my thoughts, I’m sure this design could be competitive if you got it to work.