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You previously ruled that Captain Ironhide can't use his Bot Mode ability to swap his weapon for an Energon Axe if he is undamaged. Does this also extend to other Upgrade movement effects? Does this mean I can't use Quartermaster or Private Red Heat to move an Energon Axe in play from a damaged character to an undamaged one?

That is correct. Energon Axe can only be put on damaged characters.
Source: Wizards of the Coast (2019-05-28)    【Link to Ruling】
Tags: Energon Axe