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You can see this, but it's relatively rare. You quoted the rule: F1's entire foot must go behind the back edge of the rubber for him to be committed to pitch to the batter. That's a lot of foot going a long way back.
The way I was trained to see this balk: look for the sole of his shoe. If you can see the entire sole, the foot likely went behind the rubber (try it for yourself). Otherwise, legal for a pickoff.
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Cheers,
mb
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