Earlier quoted context omitted.
"Unefined" refers to the spec, not the hardware. https://en.wikipedia.org/wiki/Undefined_behavior This case appears to be "undocumented scenario" or "unsupported use-case", though.
Do we know that the developers didn't confirm this hack with the hardware people? It could be "defined by e-mail".
You are correct thought, often guarantees about behavior can be made after the fact. Generally what happens these days is someone determines they need or want to use a certain undefined behavior. The hardware people then go, look at the RTL for the chip and confirm it behaves in a certain way, and then they UPDATE the documentation to explicitly document the newly guaranteed behavior.
Conversely, often something that is documented to work just doesn't. Especially in the case of console developers who tend to be using early steppings of custom silicon. In that case sometimes when you go to the HW team they fix it in the next stepping, sometimes they document it as errata and move on.