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I think you have quoted the answer to your question but you just don't realize it.
9-6-2 says that no player shall intentionally leave the field and return so you don't have that.
9-6-3 says that nobody other than the 11 players that are on the field may affect the play and you don't have that.
9-6-4a says that if player 11 comes on the field after the snap he has committed illegal participation and you sure don't have that.
9-6-1 says that A and K are restricted from accidentally leaving the field and returning. This implies that B and R are not restricted from this action. So when R1 accidentally left the field and returned there was no foul.
Had R1 gone OOB and returned after R2 had caught the punt then you would have IP.
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