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This has been discussed before. I believe every time it comes up, the consensus is ignore it till a coach complains, then enforce it strictly for both teams. The peanalty is not a balk though. It's you tell them to get into fair territory and not allow a pitch until they are.
Summary:
Don't enforce unless there's complaining
If so, enforce strictly
Don't allow a pitch, make them adjust first.
-Josh
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