I crossed behind a starboard boat with no contact — that's fine, right?

Not necessarily — under Rule 10 the port-tack boat must keep clear, and 'we never touched' is not a defence: if the starboard boat has to bear away to avoid you, you have already broken the rule. Cross only when you are certain you will clear her without forcing her to change course. (World Sailing Case 50.)

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<iframe width="560" height="315" src="https://www.youtube.com/embed/jCSLYIpc_I0" title="Sailing Kiwi" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
<p><a href="https://sailing.kiwi.nz/v/jCSLYIpc_I0/">Source: Sailing Kiwi</a></p>

Next on this shelf — The Upwind Beat