No, not true, if you purchase a brand new table and it's .16, you fire it up for the first time and you think that Asus expect a 50 years old woman to do the manual update??? If the new software is not included the previous version it will check your version and do the nessessary (this is OTA update I'm talking about). If you decided to do it manually make sure you do the FULL latest version for JB.(ex, if you are on 16 do the full .20, this is how software developement work, they take the original version then merge their new code to it and make another version).
To clarify (i had to read it three times) basically your saying that the OTA updater can update from, say, .16 to .20 directly without you needing to update to each step inbetween. To that i say sometimes, but not always.
I agree this is how it SHOULD work however i have read on this and other transformer forums where people tried to manually update and skip versions and it caused problems.
That being said, it is also possible that if you were on, say, .26 and OTA discovers there is the .20 update it could say "Update to .20" and behind the scenes download and update all the updates from .30, .16, .18, and finally .20 without stopping to tell you.
Reguardless of weather or not you CAN do it without problems, AND considering the intended target audience, best practices are always update every update sequentially, 5 extra minutes here might save hours of headache later down the road.