Here is a link to this year’s manual. Save a copy locally and print it out for reference. Get the VEX Hub app and download it. This is your guide to all the rules, and is your bible to this year’s game. The other “sacred text” to note will be the Official Q & A document, which comes when people come up with crazy workarounds for some rules.
There is a clear diagram of all the different zones early on in the document. That is where your answer lies.