Flagholder height should definitely be constant the entire match. The rule specifies flag height in "playing configuration", which is elsewhere defined as any configuration you're in during the game, including transient states.
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...The flag holder must be permanently mounted to the ROBOT such that when the ROBOT is in any PLAYING CONFIGURATION and the FLAG is in the flag holder, the FLAG is approximately vertical and the top of the FLAG is 75 inches above the floor. As the flag pole is approximately 36 inches long, that means the top of the flag holder must be 51 inches above the floor...
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In answer to the original question, it should be pretty easy for our design.