Neither Cummins or any of the other onfield referees called dangerous contact from Soliola. The video ref, who had the chance to review the footage during the break in play, did not intervene and call dangerous contact from Soliola. The Match Review Committee, which reviews each match for reportable incidents that were missed by the refs, did not cite Soliola for dangerous contact.
Soliola was committed to a genuine attempt to tackle Keary well before the ball was kicked. He was aiming above the waist, not at the legs. Keary was not only too slow to get his kick away, he then jumped into the tackle after contact had already been made, as illustrated by your own screenshot.
Here is the point of contact.