My toddler recently went out on our roof to retrieve a football. I expected her to be a bit nervous, but she walked right up to the edge, no fear apparent at all. I had to desperately shove my instinct to yell for her down so I didn't scare her and distract her.
It looks like there have been a number of studies over the years, so not completely uncontroversial, unless there's something definitive you've read?
The point isn't that babies never fall off stuff, just that at least a part of the fear is built in.
You linked to an article about the visual-cliff experiment (apparently having not read it?) as it is what kicked off the avenue of research that came to this conclusion and which has been confirmed and uncontroversial since the mid-2010's.
It's also the lived experience of billions of parents.
There is no currently viable counter-arguments presented anywhere globally. There is more consensus about this issue than, for example, anthropogenic climate change or pangea or any number of other issues than reasonable people aren't expected to defend due to their overwhelming acceptance.