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If he stepped off it is not a pitch. I would not call the balk because he is now infielder in the act of making a play on the runner. I would assum this means he hurried to make the throw home and did not wind up. If that is the case then you may get away with calling the balk but be ready for both coaches to come out.
As long as the pitcher clearly stepped off, then you have a batter interfering with a thrown ball. BR is out and R3 goes back to third.
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