Kind of a generality that "we're here for the kids and for them to learn baseball", don't you think? We're here to officiate a game as fairly and impartially as we can; and to administer the rules of the game as they're intended.
Leave the teaching to the coaches. That's their job.
As for "warnings", you tread on thin ice deciding the severity of the infraction. As an example, you warn one team that they didn't stop before coming to "set", but R1 stole 2nd base. The other team fakes a throw to 1st and catches the runner asleep. You've got warnings in both instances?
EVERYONE learns much more from your calling a balk, than by giving a "warning". See a balk; call a balk.
Jerry
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