A long, well known dilemma, going back to WWII airplanes. Guns in the nose, vs guns on the wings.
I think the best solution is the one they used in WWII…a workable gun sight.
In Stronghold, originally the plan was to sight with a camera, but the time spent looking down at the drive screen caused delay, was too slow.
At our second regional, we (and many other teams) added a tac-light focused so it would make a square about a foot across as a sight. When it was aimed at the goal, the robot was aimed at the best spot. Increased our shooting percentage by about double.
Note, the judges allowed that in 2016, but required that it be only switched on when actively in use, aiming. Not kept on. Lasers not allowed then or now.