An approach taken a few years ago was to use James Pearman’s button demo and use it set up features that you wanted your single autonomous program to use. For example, flag red alliance, and be able to test if you needed to turn right or left (all game dependent), starting positions, and actions to take (shoot ball, park, …)
This was done during TurningPoint using VEX Coding Studio… You should be able to import it into VEXCode Pro.