Yes, it is true. However, I am hesitant to say the AWS CloudFormation is a bulletproof tool that does not need help from the support side. If somebody was too impatient and manually removed a resource that was managed by CFN, then he might end with a deadlock, where only help was actually a support team member. Been there, don't repeat that error - please do not create (not auto-detectable) drift changes on a purpose (it could be hard to modify/remove the stack in future).

Edit: My memories are from Q1 2020.