The arm tube was exactly parallel to the platter when using REGA's own Exact 2 cartridge. So, I am having difficulty understanding why REGA recommends doing nothing when the arm tube is not close to being parallel to the platter.Maybe you've answered your own question. If a non-Rega cartridge doesn't perform as well, people who don't think things through like you're doing may just go back to a Rega one, without trying to do a better setup.
Rega also recommends playing LP's without cleaning them. Unless they get a commission for each LP that has to be replaced because it was ruined, that advice makes even less sense.
Roy Gandy recommends what he recommends, for whatever reasons. You can ponder his motivations or you can seek your own answers and learn to optimize your own setup, as Viridian suggested.