Both the rule on pg. 14 and the tutorial video seem to suggest that an fully-advanced agenda can be scored by the corporation at any time, but the timing structure chart on pg. 32 says only on the corp's draw or action phase.

I was wondering, is it legal for example to score it during a hacker's run? Say, letting him burn up resources getting through the ice and denying him at the end? Thanks.

Timing structure is specific; Agendas can be scored only during the CORP player's turn. You can score at the start of turn before you draw, or immediately before or after any action. That is all.

EDIT: In fact, p.14 clearly states "The only times the Corporation can score an agenda is right before his turn begins, or after he completes an action ", so I'm not sure where you got the idea of scoring any time from.

I would say you answered your own question. Even though the tutorial may suggest something, the timing structure strictly restricts agenda scoring to the corp's phases of the turn.