If you are looking for a checklist of requirements for EI, you won’t get one because it does not exist, and it’s not possible for one to exist - inspiration can happen and be measured in as many ways as there are teams. Truelight hit the nail on the head here:
Judges are guided by an experienced and trained Judge Advisor, which should ensure that the judging process at its core is similar across all events. Judges also receive a handbook, which is not public.
But, there is the awards manual, which explicitly sets guidelines for EI, and while it does not give an explicit set of guidelines for CA, the descriptions of the submission contents are the guidelines there:
EI specifically recognizes engineering outreach, impact, etc. FIRST has many facets and can inspire people to pursue many passions (engineering, science, technology, math, teaching, medicine, outreach, etc), but this award is primarily about ways a team is inspiring others to the field of engineering. Applying for CA is neither a guideline nor requirement.
CA is a more broad and is about the experience: the impact of the team on their community, sponsors, and the team members itself, and the partnership that forms between those groups. FIRST is a competition of engineering, so naturally this experience will involve engineering in some way, but FIRST is not “FIRE: For Inspiration and Recognition of Engineering” - it’s more than robots, and the CA recognizes the “more than robots” part (though robots can be a method used to achieve the “more than robots” impact). From the awards manual:
There is some overlap between the two awards (measurable impact), and the qualities of some activities can satisfy what the judges are looking for for both awards, which is why many teams win both in the span of a season or successive seasons. But they are two very different awards.