I think that there is nothing too mysterious about contextuality. The paper's example of clapping your hands on a coin tumbling through space is a good example. Contextuality to me means that your interaction with some system produces a result that is not a pre-existing property of the system. However, in most such cases from classical mechanics, people don't think of such an interaction as a "measurement". If I play a game of chess, the outcome will be win/lose/draw, but I wouldn't think of the chess game as a measurement of the win/lose/draw property of the chessboard. So to me, the weird thing about contextuality in quantum mechanics is the uneasy tension between contextuality and the claim that you've actually measured something. In Bohmian mechanics, there is a sense in which you haven't actually measured anything when you've measured spin.
I guess the nice thing about the coin example is that there actually is a property that you can measure--the coin really does have an orientation, and if you clap your hands just right, you can measure it. But if you clap your hands in the wrong way, you get what appears to be a measurement of the coin orientation, although it's an artifact of your clapping, rather than a pre-existing property of the coin. So, now that I think about it, it is a pretty good analogy for quantum measurements: If a particle is prepared to be spin-up, you'll measure spin-up, so you're measuring a pre-existing quantity. If the particle is prepared to be a superposition of spin-up and spin-down, you'll get what looks like a spin measurement that doesn't correspond to a pre-existing quantity.