I thought this as well but actually, no. Here’s the relevant quote from the manual
Additionally, each high/low pair of goals will be designated “hot” for five seconds, but the order of which side is first is randomized. For each ball scored in a “hot” goal, the Alliance earns additional bonus points.
EDIT - that is from the very beginning of the manual in the section entitled “Summary”
Section 1 - The match begins with one 10-second Autonomous Period in which robots operate independently of driver. Each robot may begin with a ball and attempt to score it in a goal. Alliances earn bonus points for scoring balls in this mode and for any of their robots that move in to their zones. Additionally, each high/low pair of goals will be designated “hot” for five seconds, but the order of which side is first is randomized. For each ball scored in a “hot” goal, the Alliance earns additional bonus points.
What the rule appears to say is that for the first 5 seconds either the right or left low AND high goals will be hot, then for the remainder of autonomous the other side’s low and high goals will be hot
Yes, that appears to be correct. The question as to how scoring given your original scenario would go is still a little hazy. The definition of scored doesn’t seem to help much but is copied below for convenience. The caveat about the ball passing completely through the opening makes me think that if the Hot goal changes just after the ball enters the goal (front edge sticking on or something) you would not get the bonus - I’m not sure if that is the intent of the rule so this could be a good question for the official Q&A.
A BALL is considered SCORED in an ALLIANCE’S GOAL if
a ROBOT causes one (1) of their ALLIANCE’S BALLS to cross completely through the opening(s) of one (1) of their ALLIANCE’S GOALS without intervening human contact,
the ALLIANCE ROBOT last in contact with the BALL was entirely between the TRUSS and their ALLIANCE’S HIGH GOALS, and
the BALL is not in contact with any ROBOT from that ALLIANCE.
Yes, the HOT goal is only active in autonomous mode.
All GOALS scored during AUTO will earn a five (5)-point bonus. If the BALL is SCORED in a HOT GOAL, the ALLIANCE earns an additional five (5)-point bonus. Each pair of an ALLIANCE’S LOW and HIGH GOALS are sequentially HOT for five (5) seconds during AUTO; the first pair to be HOT is determined randomly by the FMS. The pairs are the same for each ALLIANCE, relative to their ROBOTS’ perspective. For details regarding HOT GOAL indication, please reference The ARENA Section 2.2.3: The GOALS.