Sections 7.35 to 7.55 discuss this here:
https://pdfpiw.uspto.gov/.piw?PageNum=7&docid=02474994&IDKey...
Edit: As a side note, they point out that _all_ screws have throw-out, and the only way to not is to have "zero vertical angle is used on all engaging driving faces or the friction between the driver and the recess walls is greater than the axial component of the driving torque." (Section 7.15 in the link above)
They acknowledge that it's possible, but it's not done in their design intentionally.