The beauty of modular autonomous is that if the architecture is set up right, any team should be able to use the state machine of maneuver implemented by another team, and all they should have to do is code the mechanisms to execute those basic maneuvers.
This is actually at the heart of the ADK project which I have started. This project is an open source collaborative project to attempt to bring an autonomous framework to first which all teams can implement.
http://firstforge.wpi.edu/sf/projects/bobotics
As you said so many teams this year implemented a drive forward - kick for n number of times. Think about how much time was spent programming the same things on different teams. Rather than all of us doing the same thing, I would like to see FIRST teams work as a company, code something once, not have 100 teams code the same thing, by doing this we will much better use our time as programmers and make debugging for all of us easier, and bring autonomous to a lot more, if not all, FIRST teams.
anyone interested in working on this project please join it on first forge.
We have had several teams sign up, and more express interest. Lets raise the bar of the entire FIRST autonomous program , not just the leaders by the rookies also.