What is the recommended way to setup the TCP for use with Skills Auto Pick function? Should the TCP be set with the gripper fully open? If using the Teach TCP Wizard, how do you move the TCP to the same position from different angles without a physical thing there to actually touch to the same point?

Hello @T800_412
You can use the following chart according to your setup:

If you want to use the wizard, i usually put something sharp in the center of the fingertips to teach it. 

Depending on the size of the object, since the finger move down while closing, you might need to adjust the offset.
For example, the following command will pick the object 5mm below the surface : rq_auto_picking(-0.005)