Actually, I'd ask the GDC Q&A on this one.
Quote:
[R24]
COTS items from Robots entered in previous FRC competitions or COTS items that are no longer commercially available may be used only if they are functionally equivalent to the original condition as delivered from the Vendor (e.g. a part that has non-functional label markings added would be permitted, but a part that has device-specific mounting holes added would be prohibited).
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My reading of that is that [R24] does not prohibit obsolete parts.