I think this is correct to some extent, but as with most rules, the best coders, IMO, know when to break them. I'd probably re-define this to say "only have well-known and obvious return points".
When tidying up some code that had seriously evolved beyond its original purpose recently, one of the most useful and important things I did was consolidate and audit the return and exit paths, and make them sane and obvious. This really helped the clarity of the code.
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