The errata seems like a mistake.
Makes more sense to drop the term "control character" and leave the specification of which characters are not allowed as-is.
The cat's already out of the bag on this one. Changing the characters now will create a lot of invalid JSON in the world, with more being generated all the time.
That's a reasonable approach, however I would argue it's incomplete without acknowledging the historical context. How could the specification explicitly acknowledge this as technical debt from the original design rather than letting readers assume it was an intentional architectural choice? Such context informs implementers about the constraints they're working with.