The recent Q&A 2541 https://www.robotevents.com/V5RC/2024-2025/QA/2541 explicitly allows teams to run a routine prior to a match starting for setup purposes whilst abiding by T6.
As per the G9 Note:
Note: Any concerns regarding Field Element or Scoring Object starting positions should be raised with the Head Referee prior to the Match. Team members may never adjust Scoring Objects or Field Elements themselves.
Teams are not allowed to shift the position of Scoring Objects or Field Elements without the referee involvement. Can the GDC rule on whether this also applies if a robot touches/moves a Scoring Object in a setup autonomous routine or with a drive team member purposefully using the robot to move a Scoring Object without contacting it themselves?
Thank you for your work!