There is no RCD technical group. The RSG is a trade body providing assistance in interpreting the RCR. No doubt it dispenses good advice, but it does not write the RCR.
Despite the long quote, I can't see it addresses the question anyway. Whether a boat is built meeting the ISOs or built meeting the Essential Requirements of the RCR makes no difference to any need for testing, independent or otherwise.
It is perfectly possible for a boat to meet the RCR but not all the ISOs; if so there would be no basis of prosecution.
It is doubtful that Telemachus meets all the ISOs.