I'm fairly certain you haven't - as I say, if the ball rolls out to the side of a ruck, you're unlikely to get pinged for it.
But if it's directly behind the ruck then you will unless it's gone well clear. It doesn't really happen very often.
The point is that the ball is out - so it's playable. But if it's still in the vicinity of the ruck, you can only play it by picking it up, not diving on it.
It's a bit like taking the ball out of play - you're allowed to take the ball and run it into touch or dead, but you can't throw/pass/strike it out.
I'm not thumbing my nose at you, Wood and Hartley seemed to be unaware of the law, and they're professional players, neither did the commentators apparently.
I'm simply very surprised, because it was drilled into me that you weren't allowed to do it when I was a schoolboy.