That's one of those calls that'll get you in trouble as the referee. Preventative measures should be applied (like you mentioned, motioning the server on the court).
I would never make that call, regardless of how many times I have to remind the server to step on the court. At most, I'd maybe give a delay warning after repeated reminders, but I don't see myself doing that either.
If anyone did opt to make this call, they'd use the foot fault signal as this would be classed as a service fault instead of it being "out".
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