Collinsworth made up that part. That's not the rule.
It's a 5 yard penalty if "Prior to the ball being touched by the receiving team or the end of the kick, it is a foul if a kicking team player voluntarily goes
out of bounds (without being contacted by a receiving team player) to avoid a block."
The Packer was closing down the space, but didn't make contact. If the Bear player puts his shoulder into him then goes out of bounds it's not a penalty because there was contact.