We also had problems with the handling of “lack of progress rule”, in many occasions judges would wait too long to the point that only a quarter of the game was spent playing and the rest waiting for the ball.
Once a judge started a discussion with a team member from the opposite team and all that time the ball was out without the chance of any robot touching it, that stressed us a lot since we needed the goal difference which we could get only if the ball was in the field.
I would also add that the robots have become faster and the rules have not changed much in that regard. Maybe a bigger field or even smaller robots could change that and make the game more dynamic. Less experienced or newer teams would benefit from smaller robots since all the teams would have to design their robots again and many solutions designed for the bigger version would not work.