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I don't know whether it's really covered in the manuals, or is just something that is taught.
This is from the 2015 CCA manual:
6.5 Positioning for Taking Plays
The illustrations shown in this manual do not depict actual positions for umpires as plays develop. The illustrations do show the bases for which each umpire is responsible in given situations. Due to the numerous complex possibilities of plays at each base and the plate, umpires are given flexibility to take plays from a positions that they deem to be most advantageous without taking themselves out of positions for a possible next play.
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