[BrianT103]

This is the best question about Breakaway that I have seen so far. My advice would be to ask Q&A once it opens. For reference, here are the rules that are associated with this question

<G29> Defending ROBOT Restriction - Only one opposing ALLIANCE ROBOT is allowed in the opponent’s ZONE. A ROBOT is considered in this ZONE if any part of the ROBOT is in contact with the ZONE's green carpet. Violation: PENALTY; plus a RED CARD if effort to remedy is not immediate.

<G32> ROBOT Protection while Righting – Before the FINALE, ROBOTS attempting to right themselves or their ALLIANCE partners have one 10-second grace period per fallen ROBOT in which they may not be contacted by an opposing ROBOT. This protection continues for either 10 seconds or when the protected ROBOTS have completed the righting operation, whichever time comes first. Violation: PENALTY for inadvertent contact; plus a RED CARD for obviously intentional contact.

<G33> ROBOT Righting Limitations - During the grace period described in Rule <G32>, the protected ROBOTS may not actively interact with BALLS or opponent ROBOTS. Violation: PENALTY.

My guess right now is that your are in fact not allowed to go over to your opponents home zone and help your alliance partner if they are flipped. I'll be sure to look for clarification on this one during the team updates.