As long as the ambulance is IN the yellow region, and as long as all the ambulance's wheels are touching the mat at the END of the match, then yes, you will get points for the ambulance. Those are the conditions that need to be present at the end of the match to get the points for the ambulance. If the robot gets stuck somewhere else on the field, or if the team has to pick it up to get it back for the next mission, then that is a totally separate issue and is subject to whatever other related rules and penalties based on whatever happened (i.e. touch penalty, etc.).
Hope that helps!
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