I do not believe you can reach and cross a defense in autonomous. According to page 31:
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Originally Posted by definition of reaching
A DEFENSE is REACHED when, at the end of the AUTO period, any part of a ROBOT’s BUMPERS are within the opponent’s OUTER WORKS.
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Originally Posted by more from p. 31
Once a ROBOT CROSSES a DEFENSE in AUTO, any additional DEFENSES that ROBOT REACHES or CROSSES during the AUTO period will not decrease DEFENSE STRENGTH nor contribute points to the ALLIANCE.
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As I read it, if you cross a defense, you cannot also reach a defense for points.
Originally posted
here.