I think the idea of incidental contact between F2 and the BR is intended to cover the fraction of a second after the batter hits the ball when both players "instinctive" reactions take them into the collision.
OTOH, if the batter stands around in the box looking for the ball instead of immediately taking off for first base like he's been taught to do since teeball, then any subsequent contact with the catcher is interference.
JMO,
SamC
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