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Yes. The one-bit overlap for digital error correction can be applied to two-step ADC like the pipelined.
For a detailed analysis see:
G. N. Angotzi, M. Barbaro, and P. G. A. Gespers, “Modeling, evaluation, and comparison of CRZ and RSD redundant architectures for two-step A/D converters,” IEEE Trans. Circuits Syst. I, Reg. Papers, vol. 55, no. 9, pp. 2445–2458, Oct. 2008.
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