My suggestion is to make sure that more than one robot can accomplish whatever the highest scoring task is.
In '99 multiple robots could fit on the puck, so there was no fighting who would try to get on (only fighting to get on
)
In '00 multiple robots had room to hang.
in '01, with only a few exceptions, only 1 robot could balance.
This lead to much harder alliance negotiations. The situation would have been different if there were 2 bridges, or if each big ball was worth 2x, because then teams would be less likely to have to fight over balancing.
I don't care if the matches are 4vs0 or 2vs2 or even something like 3vs2, as long as there is room for multiple teams to do the higest scoring task(s)