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The Google link you refer to is helpful when planning your site structure and URL structure - (we referred to it when installing a re-writer). From my understanding, it's not about Google endorsing hyphens in domain names.
Google DO endorse hyphens, what I mean by that is they acknowledge hyphens as formal separators, as illustrated in this sentence:
"We recommend that you use hyphens (-) instead of underscores (_) in your URLs."
Thats because an underscore is not a recognised separator in common English, a hyphen is. It doesn't matter if its before or after the switch.