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This is a call that should NEVER (ok, rarely) be made.
Why?
The rule says the pitcher shall not deliver the pitch until "all available defensive players are positioned in fair territory, except the catcher who must be in the catcher’s box."
If you see this violation, you hold up the pitch. If you don't see the violation, you can't make the call, can you? I can see a last minute step out just before the pitch resulting in a call, but, as the OP states it, "setting up" outside of the box? Hold up the pitch, and instruct the catcher to get in the box.
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Tom
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