We have spoken at length with Race Officers about this issue.
There seem to be two commons responses:
1) Competitors should be informed that the marks are autonomous, warned that the marks will go back to original position after being dragged, advised to give a little extra room, and made aware that hitting the mark is a penalty. It is up to the competitor to figure out they should give a little extra room.
2) Change the rules via the SIa because dragging the mark doesn't permanently alter the race course when using autonomous marks.
If you are leaning towards option 1, below is some sample language to put in the SIs in the redress section:
Routine movement of autonomous marks will not be grounds for redress. This includes minor readjustments, marks returning to station after having been pushed away by a competitor, and collisions with marks that are not actively marks of the course presuming these collisions do not cause damage. This changes RRS and NOR
If you are leaning towards option 2, it is easy via the SIs to turn off or change rule 31. You could write in language that hitting marks is acceptable or that direct bow to bot hits are illegal but that rubbing a mark is acceptable.