MJT is 100% correct and this is a foul in both NF and NCAA. The substitution process cannot be used in any way to "hide" any of the 11 legal players on the field.
By "leaving" and heading to the sideline together with replaced players, the "legal" player has created doubt (and confusion) as to his status by using the substitution process to "hide" his true status as one of the 11 players who is staying on the field.
That's illegal in both codes.
In fact, NCAA rules would support flagging the play with an illegal substitution DB foul as soon as an official realized that a "legal" player left the huddle and headed to the sideline together with departing substitutes.
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"It's easy to get the players, Getting 'em to play together, that's the hard part." - Casey Stengel
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