Team Fees for First Timers

During the Team leader meeting, it was said that team fees may be waived for first timers. Is this still true? Also are there any more details about the cost logistics?

Please be aware that the registrations fees consist of fees for the team as well as for each human team member, see, for example, the respective information on registration from RoboCup 2022.
To my best knowledge the team free registration can be waived for newcoming teams (which are not the participants fees).
Qualified teams will receive a registration code and should then find information in the registration system.