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There is a case play that covers this
addresses this it is 10.3.3 Situation B
After a lengthy substitution process involving multiple substitutions for both Team A and B, A5 goes to the bench and remains there, mistakenly believing that he/she has been replaced. The ball is put in play even though Team A only has four players on the court. Team A is bringing the ball into A's frontcourt when the coach of Team A realizes that they only have 4 players. The coach yells for A5 to return and he/she sprints directly onto the court and catches up with the play. RULING: No technical foul is charged to A5. A5's return to the court was not deceitful, nor did it provide A5 an unfair positioning advantage on the court.
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