I think that it is appropriate to allow ooching and rocking, rather than trying to parse the different motions on the boat.  On a wing or a windsurfer, the pumping cannot be separated from the other movements of the hull, the foil and the body.  Once the boat is up and foiling, those other motions are no longer beneficial so their use will be limited.

The WASZP rule 42 guidelines are intestging, but seem to be pretty difficult to enforce; I do believe that it is the class prerogative to determine the best way to address rule 42 for these kinds of bots.  In general, the answer is probably to not hold events for foiling classes in non-foiling conditions;  sailors on foiling boats generally don't want to race if they aren't on foil anyway.  For the wingfoils specifically, pumping includes the foil and the sail together, and is a generally accepted practice as written in Appendix WS.