Choose 8 defenders, 2 at each of (B - C - D - E). Match these defenders with appropriate forwards so there is a decent contest for each pair. (A) & (B) should be about 5m apart, but you can adjust this as a difficulty setting.
Coach rolls/tumble punts the ball towards the boundary, where (A & B) set off on a foot race to retrieve.
(A) has the jump on (B) so needs to pickup cleanly, run a few metres to steady, raise the eyes and see who they can most effectively kick to. The kick should be:-
A high drop punt to space in front of one of the leading forwards. The ball needs to be lofted. A flat pass that misses everyone could fall into the hands of a defender and allow a counter attack.
Failing that, lofted to the top of the goal square, to give the forwards a run and jump at it.
Not too close to goal or it will be fodder for a full back to spoil through.
If someone is in clear position to mark, do so, otherwise if it's a 50-50 contest:-
Full forward (C) should fly
(D) should play deeper for a kick that goes deeper to the pocket
(E) gets front and square of (C)
Allow play to continue until a goal is kicked or defenders thwart the attack.
Rotate defenders (and optionally marking forward option) after several turns.