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Section 5 says: "All WebDriver implementations must support navigating between different HTTP domains and between HTTPS and HTTP domains if the underlying browser supports this." Section 5.2.2 says: "WebDriver implementations must support users accessing sites served via HTTPS." The first requirement has a cop-out which the second lacks. The latter requirement should be rephrased or removed.
Section 5.2.2 isn't right, and the section 5 bit is correct. If the browser supports HTTPS, it should be possible to test sites using that.