I've worked a phone-based Facebook Live stream using a gymbal. The quality wasn't great but this was 5ish years back.

I'm not sure of the free live-stream options that are available. Do any of them have the ability to change cameras on the fly? If not, a single drone camera is probably preferable to see the race unfold in a stable, clear way.

Could you stream video from a drone but audio from a commentator? If so, you could even have the commentator providing updated team scores at each mat.