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I always try to have them error free and succeeded in that so far. That does not guarantee, unfortunately, that all readers display them as I want. However, that is because the readers don't honor the ePUB specifications.
If the ePUB contains errors, it is much more a hit and miss if the ePUB is rendered correctly. It might, but that is only because the reader is willing to correct errors which should not be there in the first place.
It all depends on the actual errors. There might be structural errors (which I feel must be corrected), files in the ePUB which are not used (easy to solve, gives bloat in the file), wrong references (mostly annoying) or new stuff which might be correct according to ePUB3 but not in the checktools yet.
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