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you really should
According to the book, you should sound the whistle. Many people don't when returning before FTs and it is not a big deal.
Officials Manual page 45
274. At the warning signal (first horn), the officials will step toward the team huddle and notify the coaches/bench by raising an index finger and saying "first horn." The officials should then move toward their proper positions to resume play. Officials shall see that each team has five players on the court. After the second horn to end the time-out, the administering official shall sound his/her whistle to indicate play is ready to resume. Signal when the clock is to start.
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