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HTBT, but I am thinking no foul cuz R is returning the ball back towards the punter who is a defensive player now, and is the last line of defense for saving a TD on the return. You said he circled around and hit him from the front and above the waist so the kicker should have been able to see him. It wasn't even a side hit, which would be more suspect to a PF.
BUT like I said you'd HTBT to know all the circumstances of how it went down.
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