I knew the rule, but the way officials enforce it is baffling. I don't remember the play you're referring to, but I know there have been times when the "kick" is clearly unintentional -- like the offensive player throwing the ball into the defender's foot, before he can react -- and they call a violation, even though theoretically they aren't supposed to.
That's why I didn't know the rule, they almost always IMO call it a kick even when not intentional. This was first half I think, someone threw a pass that hit Boogie's foot, Warriors got it and Cook wound up with and And 1 layup 3 point play. Everyone booed, the announcers said kicked ball. On replay it looked to me like Boogie moved his foot but he also moved his hand. The announcers said maybe the ref thought it hit his hand not his foot. Apparently after that the refs told Nurse that they thought it was not intentional. I didn't agree I think it was intentional and cost Toronto 3 points.
I can't recall seeing it not called in that sort of scenario before. I've aways been yelling at the tv that wasn't intentional not even knowing that actually was the rule.
My biggest pet peeve is the rule, in college moreso where refs refuse to call fouls on held balls. Ball is loose, player A dives on ball, player B dives on player A, the refs almost always call a held ball because they don't want to call a foul. It's quite common to see held balls where player B doesn't even have contact with the ball he's just on top of player A. Last couple of years I've seen a few instances where they actually called a foul but nowhere near often enough.