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.
https://docs.nvidia.com/cuda/gpudirect-rdma/index.html
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