I trust Kubiak to know what he can reasonably expect from Rackers and if he didn't think he could get it through the uprights, he made the right call.
If I were to second guess anything, it would be the 3rd down playcall. Presumably, Kubiak already knew on 3rd down that they would not try a field goal on 4th. Knowing this, you have to consider this potential 4 down territory, so I think you have to run the ball on 3rd and 4. Either Foster picks up the 1st or maybe only picks up 2 or 3 yards but that makes 4th down that much easier.
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