The current rules allow a team to force a "Keeper Held Ball" of the opponent by commiting "Attacker Touched Ball In Opponent Defense Area" and get a free kick in front of the opponent goal.
I would suggest resetting the timer for "Keeper Held Ball" every time the opponent commits "Attacker Touched Ball In Opponent Defense Area", similarly to how the ball placement timer gets increased if it is interfered.
We talked at German Open about this and a maybe tricky situation could be a robot the touches the ball in the opponent defense area without being able to move away, but this should, as far as I can see, result in either a no progress or in the offending team receiving three fouls and getting a yellow card which would also stop the game if the team does not take a robot out.
So the game would get stopped either after 5 or 10 seconds depending on division for no progress and at the latest after 16 seconds for the fouls case (6 seconds to commit 3 fouls plus 10 seconds until the robot substitution stop takes effect).