I don't see how you get that from that paragraph. But this is pretty explicit:
5-4-9. Procedure Turn
a. A procedure turn is the maneuver prescribed when it is necessary to reverse direction to establish the aircraft inbound on an intermediate or final approach course. The procedure turn or hold-in-lieu-of-PT is a required maneuver when it is depicted on the approach chart.
The conflict in understanding is, I think, within the above two sentences:
Initially, a. is saying to the pilot, or controller, what to do, "when it is necessary to reverse direction to establish the aircraft on final"..the term "when it is necessary" is, it seems, a directive to the pilot, or controller, to make the decision as to the necessity to "reverse direction" to "establish the aircraft inbound on final".
The following sentence describes the "procedure turn maneuver" that is required as it is depicted on the chart. Some (most) are depicted as the open ended 45 degree barb, but is restricted to one side, some are depicted as a holding pattern, some are depicted as a teardrop, ans so on. The rule is written to say that "if you (the pilot, or controller) determine a course reversal is needed to get aligned, the turn is depicted on the chart".
That, I think is the source of the wide-spread mis-understanding and application by good pilots and controllers everywhere.
I don't know if that's the intended meaning, or if the meaning is as flat as the "Always, no matter what, if it's depicted-on-the-chart-you-have-to-do-it interpretation, I cannot say.
I do have a problem making the AIM interpretation as if it were the chart designers viewpoint. I read AIM and regulatory stuff as written to the pilot in the field. ...But I also constantly look for every grain of knowledge that may save my bacon and since no entity, including govt. is perfect, I consider the source of the information.
If the pilot is really in compliance with 91.103, having all available information, ie., a true familiarity with the approach, and local approach controllers, and the straight-in does not, in any way, in the remotest of "imaginary scenarios" cause any increased danger, no one in the FAA would attempt a violation based solely on the wording of the above quote.