I've been reversing on full lock (against the stop) for at least 25 years with power steering, last 3 cars with electric pumps, and never had a problem.
It's the only way I can turn on my drive.
My ageing 1975 Triumph Stag never had a problem either.
This business of not holding against the stops may have meant something 40 years ago when power steering was a rarity, but I think it's a bit 'old hat' these days!