I concur with the 12 points, no penalty.
The next interesting thing about this scenario is whether the first crossing of the red finish line in teleoperated counts for 2 points.
Quote:
<G07> A ROBOT that has CROSSED its own FINISH LINE must CROSS the opponent’s FINISH
LINE before it can score by CROSSING its own FINISH LINE again.
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Since the robot has not yet crossed the opponent's finish line, the first crossing of the red finish line in teleop does not score.