Did Magnus violate FIDE rule 4.2?

PS: please watch the video. It really doesn’t look like an usual adjusting.

He touched it and his other hand is pressed into his face per usual blocking his murmurers but I definitely didn't think he announced anything. Kinda gave a hand signal and in either case I would be irritated for this to be investigated as well. I'm sure by the way he pulled his hand back he knew this conversation would be coming.

Although in all fairness it does actually look like he was going to move the piece too so I am not so sure now how to take this

Okay yes so by the respective rules of game conduct I'm seeing a real problem here now. CM should not be so criticized for pointing this out.

Which video?

at maximum it is bad style. But it is violation only if opponent claims it before making his own move.

"4.7 A player forfeits his right to a claim against his opponent’s violation of Article 4 once he
deliberately touches a piece."

Yeah as @petri999 or better @codenameM said Nepo needed to claim / call arbiter. The discussion NOW is bad style from Nepo fanbois

Nepo was already Hikaru's "victim", when Hikaru castled using both hands. He should have learned then that he has to protest immediately.

that case is interesting as when Hikaru touched both pieces he had to do castling which he intended to do anyway. Only a warning would have been issued to Hikaru. On some repeat offence similar mistake could have lead to extra time penalty i.e 2 minutes expat for Nepo.

The arbiter has to observe and intervene. It’s not that way that Nepo has to claim and no one else.