Good video picture, btw. I didn't detect a leading with the helmet in either. Just because the helmet gets there first doesn't mean its a foul.
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should the R signaled for a TD on the play even though he was the one who threw the roughing the kicker foul?
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Yes. In this example, its obviously coming back but in others it may not plus you want to be clear in what the result of the play was. Again, here, the guy goes into the end zone and no one is within 5 yards of him. If he's tackled, is it short? Is it a TD? Under NCAA rules, it may make a difference on penalty enforcement on a PF where someone scores, so I want to make sure everyone is aware of what happened.
Now, the R is not going to mirror the signal to the press box, but if he's the covering official, he'll give it.