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Yes. Take a look at 7-5-1. For a forward pass to be legal, the following things need to be true:
1) scrimmage down (ie: not during a free kick).
2) Prior to change of possession
3) Both feet of passer must be in or behind NZ when pass is released.
The first forward pass meeting all three criteria is legal, the second one is not.
Note that part 3 only cares about the location of the feet at the time of the pass; nothing is said about where the passer was prior to the pass being thrown.
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