It’s a very heavy YMMV situation. It depends on the rest of the robot’s objectives. Off the bat, I personally would only attempt under-the-bumper intake if my drivetrain was swerve due to the increased space underneath.
Of the few under-the-bumper designs imaginable, there are much more over-the-bumper designs, and even more resources/experience to back that throughout FRC history.
In pretty much all FRC games, it’s easy to make an intake. The harder part is handling the game piece after it is in your possession. Do you do a handoff? What kind? How much area of the robot would these mechanisms take up?
In terms of Ri3D designs, Cranberry Alarm’s seems very promising. However, with the intake rotating back into the robot, you now have the limitation in which you can’t really build upwards as the intake + shooter takes up a lot of space.
Should there be an under-the-bumper variant, you can gain some space to build up, but at the expense of bellypan space.
There’s always going to be tradeoffs, no matter your approach. The question is, which one best fits your team’s goals. Most importantly, build within your means - you don’t want to be overly ambitious and end up spending the entire season tending to an issue that could have been solved by using another design.