Yes FIFA has made many good decisions. The expansion of the World Cup to 32 teams, and especially the liberalisation of the offside rule
It used to infuriate me when a goal was disallowed for a player standing offside in a position far away.
It happened to me once in amateur football. I didnt score many, but this was a beauty from the left edge of the area curling into the top right cornet, the goalkeeper stranded and helplessly watching it go in
‚Offside‘ whistles the ref, what!!!
A team mate is near the right edge of the play, 15 metres away from the goalkeeper. Fifty years and more later, that decision still annoys me. Of course now, the goal rightly stands and I get the hugs from my team mates for the best goal I ever scored 
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