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I know of no rule that would allow the PU to send R3 back to third. He could have called the batter out for batter interference if there were 2 outs (7-3-5).
And you're correct that if the batter steps on the plate and contacts the ball (fair or foul) he's out - though most of us do not see where the batter's feet are when he contacts the ball.
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Cheers,
mb
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