Xavier is driving recklessly and runs a red light, colliding with Yolanda's car. Yolanda suffers minor injuries and is taken to the hospital. At the hospital, the staff negligently administer the wrong medication, causing Yolanda to have a severe allergic reaction. Despite the team efforts, Yolanda dies from the allergic reaction. Yolanda's family sue Xavier, arguing that his negligent driving caused Yolanda's death.

Illustrate the difference between legal causation and factual causation using examples and case law.