I don't see anything in that link which confirms what you state, maybe you linked the wrong thing?
But, as much as I hate having to be on Apple's side, I think you're essentially right. Let's look at the image of the locations overlaid on the keyboard
Note how near the center of the keyboard the dots are centered, but as you move away they are increasingly putting the tap farther toward the edge than was actually touched. This works with visual feedback, when a person is typing the phone will generally be held such that it puts the keyboard in the center of the FOV. As the digit is moved off the center line the visual cue will increasingly be perceived as the digit being farther towards the edge of the device that it actually will be because the brain will tend to interpret motion as being along the line connecting center of vision and the digit.
This will be further compounded by the natural tendency to "stay within the lines" which will have an untrained user trying to keep the perception of the digit within the bounds of the phone (this is also mitigated by the use of the reviled bezel), but due to the width of the digit and the angle of the visual cue that will tend to cause the touch to occur closer to the center than the user expected it to be.
I have a feeling that Apple did work on this with human factors specialists and purposely designed their touch feedback accordingly to make up for the way humans perceive the world without the user needing to go through a learning period.
Ugh, writing that makes me feel dirty...