Please review the Q&A Usage Guidelines before posting, specifically point 3, "Quote the applicable rule from the latest version of the manual in your question". Rule G9 reads as follows, with some portions bolded for emphasis:
<G9> Hands out of the field. Drive Team Members may only touch the Team’s controls and Robot at specified times during a Match as per <G9a>. Drive Team Members are prohibited from making intentional contact with any Scoring Objects, Field Elements, or Robots during a Match, apart from the contact specified in <G9a>.
a. During the Driver Controlled Period, Drive Team Members may only touch their own Robot if the Robot has not moved at all during the Match. Touching the Robot in this case is permitted only for the following reasons:
i. Turning the Robot on or off.
ii. Plugging in a battery.
iii. Plugging in a V5 Robot Radio.
iv. Touching the V5 Robot Brain screen, such as to start a program.
b. Drive Team Members are not permitted to break the plane of the field perimeter at any time during the Match, apart from the actions described in <G9a>, and when introducing Match Load Rings, per <SG8>.
c. Transitive contact, such as contact with the field perimeter that causes the field perimeter to contact Field Elements or Scoring Objects inside of the field, would be considered a violation of this rule.
Minor violations of these rules that do not affect the Match will result in a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Disqualification at the Head Referee’s discretion.
The scenario described by this question would require a Head Referee judgment call as to whether the contact was intentional and/or Match Affecting. We would advise Drive Team Members to be mindful of this risk when attempting to Elevate Mobile Goals.
Does the team get warned or worse?
If the contact is determined to be accidental and non-Match-Affecting, then this would be considered a minor violation, and the Team would receive a warning.
Since the goal is touching the field wall it counts as zero at the end of the match?
Please see this similar Q&A post, which explains the rules for scoring Mobile Goals which are contacting the field perimeter:
https://www.robotevents.com/VRC/2021-2022/QA/831