No, the second hop is Cloudflare.
The answer is yes - this is the same concept as Apple's Private Relay.
I think you have misread things. They aren't comparing private relay with tor but rather with obscura for which the answer is a yes
For authentication? Yes.
Private Relay has Tor-like guarantees (with 2 hops) baked into the protocol, as it uses anonymous authorization tokens (which can't be tied to Apple IDs they represent) at exit node.
https://www.apple.com/privacy/docs/iCloud_Private_Relay_Over...