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Talking NCAA-M here: a secondary defender CAN be in/over the restricted area and make contact with the offensive player....so long as the contact is not deemed to be illegal (a block, a charge, or otherwise...).
Using the NBAs' terminology, I view this contact as being "incidental contact" or "marginal contact". I do not view it as "contact that warrants a foul". I would not have blown the whistle.
I do not have a problem with the perceived "lateness" of the whistle...The best officials will see the "start, development, and finish" of a play. That is what the Lead did here.....
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