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That's untrue. You can upgrade to a newer release version if there is one. (source: just did this today with 10.3)

You only need to restore if you want to downgrade to a release version when you are on a later beta.

I have a device that I unregistered from the beta's and it never picked up a newer version, I had to manually restore it.

I upgraded to beta 7 then it let me upgrade to 10.3. Since I was initially in the beta, I probably couldn't make the jump to the GM directly.

Sounds sane. Otherwise upgrade scripts would have to be exhaustive for beta1->GM, beta2->GM etc. So now there's 10.2->10.3 and beta7->10.3, much more manageable.

I had the same issue but a manual reinstall wasn't necessary. I believe the problem was that in the developer > profiles menu there is a certificate for beta updates that needs removed. Something along those lines.

That is correct. You have to unregister yourself and remove that beta profile.

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