The OP's maneuver is legal. As per the GDC -
Q. If a ROBOT moves from the opponent's COURTYARD through the opponent's OUTER WORKS and is completely in the NEUTRAL ZONE but is still in contact a DEFENSE, for how long does the ROBOT need to be free of the DEFENSE before attempting to traverse the OUTER WORKS again? For example, if a ROBOT were to push the Sally Port or Drawbridge away momentarily before traversing again, would this result in a CROSSED DEFENSE? PS: Section 4 in the 1/13/16 Game Manual seems to be Section 4 from the Admin Manual
A. Per the Blue Box in Section 3.1.3, it is the responsibility of the DRIVE TEAM to make clear to the REFEREE that they have satisfied all requirements of CROSSING a DEFENSE. If it is not clear to the REFEREE whether or not the ROBOT was initially free of contact with the DEFENSE prior to the CROSSING attempt, REFEREES are instructed to not award credit. It is in the DRIVE TEAM'S best interest to make it abundantly clear that the ROBOT is initially free of contact with the DEFENSE prior to CROSSING.
https://frc-qa.firstinspires.org/Que...d-to-be-free-o