I don't think the cliff in the article is referring to the phenomenon of a climate cliff. I think that is taking it too literally. I DO think climate change will be a disaster for humanity if we do nothing. It's not a sudden event by any means. The disaster will take decades of inaction and acceleration before we realize we are in it.
But the analogy, which is that we are headed for a disaster and at this point we must take rapid drastic action to avoid it, I think is correct. Rapid action means making decisions now to commit to decades of repair work. It means immediately stopping new climate bomb projects. On the scale of a society, change that takes decades is akin to swerving a bus. And if we take no action, I think the analogy of crashing in to a canyon is appropriately bad. The only difference is that falling off a cliff happens in an instant, and no harm is done if you stop at the last minute, whereas with climate change the problem is slowly getting worse day by day. So yeah, it is not a perfect analogy, but I don't think we are meant to take the cliff as a direct analogy to climate change occurring all at once or not at all. Doctorow certainly knows that is not physically correct.
Now if you look at human activity on long timescales, the decisions we make this century can drop us off a cliff in to disaster, or change our trajectory to just some bumps and bruises. And I think on this time scale the cliff analogy is more literal. You just can't think on the year by year timescales we normally think.