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It seems that the intent of the URL Standard is that a valid URL is also a valid RFC 3986 URI. Or more specific to the spec: serializing a URL that was parsed without any error should produce a valid RFC 3986 URI. If that is (or is not) the case, a clarification would be useful.
No that is not the intent. As stated pretty clearly in http://url.spec.whatwg.org/#goals the goal is to obsolete the RFCs.