[EricH]

<G28> applies in the autonomous period only.

You really want to read <G08> in Section 7.3.4.1. Viewed from your alliance station, your robot must be on the right side of the center line and in contact with either the farthest bump in its zone or the alliance station wall of the other alliance.

As regards whether touching the tower counts as touching the bump, you'll have to ask Q&A about that.