But they can't hit the recruits anymore can they? In Full Metal Jacket the drill instructor chokes Pyle and punches Joker in the gut. I think if they can't hit you then it must change the experience and the dynamic quite a bit.
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They're definitely not supposed to. I didn't experience or see it, but plenty of anecdotal reports suggest otherwise, even within my own recruit company from other platoons. So it probably happens, just very rarely and it would be punished if discovered.