I think that you initial understanding is correct. However, CM said that it was important for a habit to be established correctly, rather than initially forming a habit incorrectly, and then trying to later “unlearn” and correct the habit.
It is for this reason that we are starting handwriting this fall, with our young 5-year-old. She is starting to write people’s names on the artwork she creates for them (Mommy and Daddy, grandparents, family friends, etc). She has also expressed a desire to write letters to her friend, whose family just moved about 3 hours away. She is showing interest, and some of the letters she makes on her own are backwards/not formed correctly. If she’s determined to do it, I would rather have her learn the correct way to form her letter, and use her desire to write her friend as a natural learning platform.