The "R" in RDMA means there are multiple DMA controllers who can "transparently" share address spaces. You can certainly share address spaces across nodes with RoCE or Infiniband, but thats a layer on top
I don't know why that NVIDIA document is wrong, but the established term for doing DMA from eg. an NVMe SSD to a GPU within a single system without the CPU initiating the transfer is peer to peer DMA. RDMA is when your data leaves the local machine's PCIe fabric.
