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Agreed. Looks like a hit to me, he leans in way before any vehicle is alongside him so his body position not consistent with misjudgement of road position. He is not constrained and could go wide to pass safely.
No point speculating what may/may not have happened out of shot to wind the rider up, I just hope they see this so that they can see how close they came to putting another rider under the wheels of a truck. Not cool.
https://youtu.be/4CGP0MhcRvE