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Penetration of 0.1% is acceptable. As I said before visualising penetration/deformation with auto scale is unreliable since you are looking at a scaled/exagerrated result.
I don't really have enough info to judge what is going on and why. Is the radial displacement coming from SyC or applied in Mechanical?
Why are the balls moving tangentially if you are solving the problem in rotating frame? As I said it's best to restrict the ball to have 1 rotational DOF free, then likely they will rotate.
I cannot judge whether balls rotate from the video. You need to look at the ball torque as I keep saying... also put a coordinate system on the ball and measure the rotation directly.
Paul