Are Devices required to wait for a Repeated START or STOP, or both, to recover from Error Types TE2–TE5?

Error Types TE2 through TE5 should be recovered by STOP.

However:

• Error Types TE2, TE3, and TE5: Vendors may optionally elect to have Devices recover from these Error Types upon seeing a Repeated START, per the transaction type. For these Error Types that support optional Repeated START recovery, STOP is the second step of escalation after Repeated START recovery.
• Error Type TE4: Requires STOP recovery (the Repeated START option does not apply).