It is almost redundant to say, at this point in the thread, that the use of will twice is probably best when the clauses have two different subjects.
Nevertheless, if you don't mind a slightly more awkward style, violating parallelism, you can switch to present tense for the second clause (with future meaning, of course):
If you screw this up, your team will lose five points, and the other team gets three.
If you give me ten bucks, I'll wash your car, and Tom takes out the trash.
But I don't recommend it!
In any case, the version without will and still retaining the bare infinitive won't do at all.
CJ