Not disagreeing with you entirely. But per the Etiquette video -Racing is a contact sport, not everything needs penalising.
"Motor sport is called a non-contact sport. That means it is a sport that absolutely does not allow contact with others.
But in order to achieve this, it is not enough to have a strict set of rules. It is extremely important that everyone works to avoid things that make you look bad. "
I interpret this to mean contact should be avoided. And the ultimate goal (in perfect circumstances) being contact free racing.