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If K5 initiates contact with R21, he is guilty of KCI as R is in a position to catch to the kick and was impeded.
If R21 is blocking K5 and gets too close to R20 and you deem that K5 did not impede R20's path to the ball, then you have no foul.
It is a judgement call. The fact that K5 blocks R21 into R20 is not a foul by itself as K has the right to position himself near where the kick is coming down in order to make a play.
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