Rules Question on strange D1 Ending (Video)

[Raymond]

Originally Posted by Pantherdreams

What if contact is caused by a teammate? Two crossing teammates bump one steps on endline/past gatherhing balance?

What if contact is not a foul. Defensive player holding position in the middle of the key entitled to their post and offensive player not paying attention runs into the defender and bounces off and steps on baseline as a result?

The rule reads as "voluntarily". To me, those are not voluntary actions. I feel comfortable not calling a violation in those situations.