Erasmus, whose side face France in Paris this weekend, consequently headed out to the training ground and, conscious the cameras were on him, took Esterhuizen to one side to show him how to tackle just like Farrell.
Erasmus and Springboks defence coach Jacques Nienaber subsequently were filmed on Monday showing Esterhuizen how to execute a tackle similar to that made by Farrell.
Farrell faced no punishment after World Rugby, the global governing body, confirmed on Sunday night that the independent match commissioner had studied events at Twickenham and deemed no citings were required.
Austin Healey's response to the video made us laugh! If that is right, we should also start tackling like that.
After the game, Erasmus said, "Nothing upset me, because if it was legal we just have to latch on a little bit and tackle the same".
Given Esterhuizen was on the receiving end of Farrell's big last-play hit, the video, while clever and amusing, is a clear shot at World Rugby's inconsistencies and lack transparency over what is acceptable and what is not.
Pundits and fans on social media have been asking how could Gardner and the TMO have got a decision which could have resulted in a kickable penalty, and possibly a win for the Boks so obviously wrong?