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". Often, you'll find that by quoting the rule, you'll answer your own question.
The definition of Cleared reads as follows, with a portion bolded for emphasis:
Cleared - An Alliance Mobile Goal state. An Alliance Mobile Goal is considered “Cleared” if, at the end of the Autonomous Period, it is not contacting its AWP Line or the Neutral Zone. See the Scoring Section for more details.
The definition of Neutral Zone reads as follows, with a portion bolded for emphasis:
Neutral Zone - The area of the field in which all three Neutral Mobile Goals begin. See rule <SG5>.
• The Neutral Zone is bounded by the inner edges of the playing field walls, and the single tape lines which run the length of the field.
• The Neutral Zone is defined as the gray foam tiles themselves; it is not a 3-dimensional volume.
There is no requirement in the definition of Cleared for a Mobile Goal to not be contacting its own Home Zone. Similarly, being partially within the 3D space of the Home Zone is irrelevant; the only relevant concern is whether the Mobile Goal is contacting the Neutral Zone and the AWP Line.