Taysom's throw was under-thrown also. That ball was completed by a couple of inches. But the reason it worked was because the defense was expecting him to run the ball like he does 95% of the time. Hill to Harris, that's an unexpected combination. That's why it worked.
We don't have to throw the ball 50 yards in the air to win. Some on here keep talking about being 5-0 with Bridgewater, how many deep throws did he make?
Moving the chains and giving the defense a chance to rest is what wins ballgames. Not 2 plays and a 50 yard bomb and a tired defense back on the field.