It seems we all agree that shooting high is quicker on cycle times (most of the time).
Personally If line of sight is a concern then I recommend attaching a camera near your shooter and draw a square where the ball is most likely to go when shot (can be tested and tweaked) this will help manual aiming. Defense is gonna mess up your aiming even if you have vision software.
To answer the original post, I feel it is more rewarding to go high because I would rather take time to aim rather than to drive. But there are plenty of variables to consider. Stay away from complexity like high and low shooting, not worth it, pick one based on variables in a game.
Second bots usually are the best shooter or climber in these kinds of games (I was around during 2016)