It wasn't actually a great play by Baker. In the slo-mo replay it shows that Cam is starting to move the ball from tucked to the "reach out to the end zone to try to score" position as he is almost to the ground.

Which requires a shift and to expose the ball. He never got past the part where he was taking it from his tucked arm to switch to his hands to begin the outreach and it was poked out. Because he exposed it.

We needed the ball, the clock and/or a FG there more than we needed him to try to score like it was the last play of the game.

And I don't disagree most backs would try this. But again, it's discipline. At this point put in Hendo in the Red Zone because this just cannot happen again.