I really doubt that Leo & Jamal took penalty, especially in the finale. They don't look like one who's bad at physical challenge, except if Leo had some kind of injury that made him took penalty.
But about taking penalty in the finale, it had happened before in TAR Asia when Hussein took a penalty in the Roadblock (the task was tightrope walking in Marina Bay Sands similar to Singapore leg in Season 25), and they had to wait for 4 hours at the Roadblock location.