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Does anyone have any ideas on how I can get fully extended at the top of my vault? Drills off the pole, anything?

Improve your run and takeoff. No one can get fully extended off the top of their vault if they do not have a sold run and takeoff.

I recommend getting a pulley system to practice the push off and staying close to your pole, but if you don't want to drop the $ on one, all you need is a pole. Put the pole tip against a wall and lay on your back (feet pointing away from the wall) as if you were inverted and about to push off - a smooth gym floor works best for this. Try to stay near your pole as you push the pole and slide your body away from the wall. You can incorporate a turn and get a feel for the extension off one arm. There's also a piece of practice equipment called the Topper that adds a bit of resistance when doing the drill, or you might try to fashion your own out of a bungee.

Other than that, build up the strength of your shoulders with military press, handstands, and kettlebells. Good luck.

How does this pulley system work?

Heels together, toes pulled toward you. This creates a rigid, streamlined lower body at the top and prevents wasted and dispersed energy. Think of an arrow being shot from a bow. If that arrow was made of rubber on the tip end half of the shaft, it's just not going to fly very far compared to a full rigid shaft. Too much energy is dispersed in the vault when the athlete allows their limbs to sputter in too many directions.

ok that makes sense now

More important than form on the top half is form and explosivity in the bottom half. Back to what rainbowgirl said, the run and take-off are the most important phases to have a good top half. This is because after a good run and take-off, you're set up for a good swing, and if you swing well, the top half will be much easier to perform well.