This whole thing is the same foolish exercise as trying to break down a targeting call in super slow motion.
Jake is running at 30 ft/s, has no idea where the throw is relative to home plate and the baseline, and has to make a decision when he is ~6-8 steps from home as to which side of the plate he is going to slide to. He picked the inside of the plate and Lucroy moves in the same direction. Whether Lucroy was moving to block the plate or not, there's not enough time for either to react and completely miss each other. The fact that Jake planted his left foot and tried to spin proves to me that he wasn't trying to truck him intentionally. If he was going down the line with that intention, it would have been head down, two forearms to Lucroy's chest/shoulder with a follow through.
As someone else said, this is like when you're passing someone in a hallway and you both pick the same side to pass and mirror each other for 2-3 counts, except in this instance the hallway is only ~6' wide and Jake was running at a dead sprint.
Lastly, regarding his slide, home is a hard place to judge how he was going to slide as he doesn't have to hit the ground and stop at the plate (like you would have to at 2nd or 3rd base). With his speed, he was likely going to superman it and would probably have slid all the way to the edge of the circle. It would be foolish to start his slide at the cut of the circle and 3rd baseline as he would instantly start slowing down and would give Lucroy a few more fractions of a second to make the tag.
The call got made because it looked bad, just like how several BS targeting calls get made. You can only legislate so much contact out of a game that is played by men going full speed. Reaction times are a real thing, even for professional athletes. It is unreasonable to expect players to be able to react to an unexpected action in fractions of a second. If the goal is to remove all contact, then the rule needs to specify which side of the plate belongs to the catcher and which side belongs to the runner and if either doesn't stay on their side and initiates contact, the call goes against them.