The 5-baton-only rule seems like it would make it hard on the refs to keep track. Some of the better robots will be sorting and scoring very fast, and the ref will need a sharp eye to watch for rule breakers.
Rule <SG8> isn't that restrictive. You could push the rolling goal over on the bridge and keep it on the other side where the dispensers are. The only problem is it makes sabatoge easier. The opposing alliance could just push the goal away.
Right now it sounds like the only reliable way to get points is balancing in the end game.
Some clarification or change from the designers would help a lot.