I routinely tell HC's in pregame that if it gets loud or I otherwise can't see them, as long as they don't get in the way I have no issue with them coming on to the court a step or two to get our attention. Is it explicitly allowed in the rules? No. But we see this in football too - HC's aren't allowed to leave their coaching box, but they have the ability to run down as far as they want to get a TO if they want it, we've all seen that.
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