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By rule, the base belongs to the lead runner (unless forced -- which he wasn't in your play).
If both are on the base, the trail runner is out when tagged. If only one is on the base, then that runner is safe when tagged.
As you describe the play, R2 should have been safe. But, as you also say, U3 didn't see R3 leave, so U3 called what he saw.
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