[JesseK]

If we had an incentive to leave autonomous early this year, we might not have seen the 2 or 3 tube autonomous attempts this year.

I like the idea of an autonomous-mode extension for completion of a task, somewhat: keep the extension & bonuses reasonable, then take the equivalent amount of time away from teleop so match cycles are predictable. The idea would extend the life of interesting autonomous routines, and let the teams without auto-modes play teleop sooner. The downside is that it'd grow the disparity between well-resourced (mentors, sponsors, etc) and low-resourced teams.