I think if they called it quickly, let the dust settle there wouldn't need to be resets or penalties.
We need to stop looking for any reason to penalise and start waiting for the result then penalising.
For example the penalising of the marginally early engaging by Robinson didn't particularly benefit the Wallabies and yet Franks/Woodcock were driving before the feed and the advantage was obvious.
Another example of needless penalising was when the Wobs played England earlier this year and England would drive us 5m back and have clean ball available yet when the scrum finally did collapse (after being kept in their for far longer then I've seen in modern international rugby) they would bring it back to the same spot and start again when the ball COULD have just been used.