Huh ... Those ass-puckering moments ... Nice lines BTW. That track looks like a hooligan boot camp.
Like the others, the video suggests (to me) hard-part contact with the tarmac. But, if you say that wasn't the case, who are we to argue? Didn't see it, and weren't there on the bike.
That said, there have been times at the track where I've had similar "oh shit" moments, and was convinced I touched something down. Inspection of the bike suggested no. Then sometime later (in a couple of cases - months later!), I'd be servicing the bike and I'd see a scrape on a pipe, the frame, or some other place normally obscured from typical view of the bike. I always laugh and think "... sooooo, that's where I touched down that day ...". Hard to imagine anything being obscured like that on a SuperDuke, but who knows. That lower cowl (black plastic) may not show rash real well.
Maybe a dumb question (or 3), but what did the tyre look like after the session (or day)? Is the rear wheel properly aligned? Was there any kind of dip entering or mid-corner (didn't look like it)?
Out of curiosity, how hot was it? Any idea how hot the track surface might have been? Even the highest performance street tyres aren't designed for high sustained heat of a bike in expert hands. Not knowing how coarse that tarmac is, its hard to gauge whether that sound is characteristic for a step out, but I would expect a tyre like the Q2 to be a little more progressive in warning you first if it was as simple as a loss of traction (assuming no debris or a 'slick' spot).
Then there's the other part of this: Maybe you're beyond using a street tyre for your track sorties. Something to think about.