I'm just going by the description given in the referenced page, and applying basic logic.
If you have a recovery key, and the only additional things needed to recover one's iCloud data are a trusted phone number and an Apple device that isn't already a trusted device, then where else could the ADP keys be except in the recovery key?
If the description and procedure given in the reference are incorrect or incomplete, then that's a problem with the referenced description. That's something you should take up with Apple, perhaps by submitting a bug report, or sending feedback to Apple (search terms: apple feedback).
The only way I know of to learn if the procedure for using a recovery key is correct and complete is to try it. Of course, this risks losing the data in one's iCloud storage if there is a problem, so it might be prudent to do the test on a new unique AppleID created specifically for the test, and only using resources (photos, files, whatever) that one already has a backup of, or it doesn't matter if they're lost.