Adrian Goldsworthy addresses this issue in The Fall of Carthage:
The main difference between the Roman and other systems was that the intervals between maniples was especially large, not that the gaps existed at all. Charging enemies, even 'wild barbarians', did not sweep through these gaps and swamp the maniples in the first linebecause the charges delivered in reality appear to have been far less concerted and rapid than those of popular imagination. Such charges were themselves not delivered by an enemy line that was solid anyway, but one made up of distinct units or groups with small gaps between them. Far more importantly the intervals in the Roman line were covered by the maniples of the next line.
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