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I think they do have a protocol of sorts, but there is a very big difference in taking a player off a pitch for a 10 min assessment (with a temporary replacement) compared to pulling a rider from a 3 week tour. Not sure there is a good answer, sticky bottles are a 'grey area' never mind a rider sitting in a medic car for 15 mins and then being dropped back into the sharp end of a tour stage.
bardet looked wobbly when he got back to his feet. probably shouldn't have been let back on the bike tbf