I wrote this whole thing about how it was legal until I looked a little closer and…
Rule < SG3 > states that “Robots may not intentionally or accidentally, directly or indirectly, perform the following actions:”
Some of the actions in the chart are contacting the opponent goal zone, contacting scored cubes, contacting a robot fully contained within a protected zone, and more.
As we learned in Next Level, indirect essentially means that it’s not the robot, but it’s caused by the robot.
I believe VEX has made it 100% illegal to touch the goal zones of the other alliance at all. I would love to be proven wrong but this is what I’m understanding.