I think part of the problem here is the framing of the question. In diving medicine, there are few questions for which "100% impossible" is an epistemically honest answer.
The theoretical models we have for questions like this are probabilistic by nature, and take a variety of input variables. Those variables and their values have been chosen over time, based on available evidence from a relatively small number of studies. Millions of people make millions of dives every year, some get bent, most don't. Of the ones who do get bent, a good chunk of them are following standard operating procedures that we consider to be "safe." This is important for all divers to understand and accept.
In the end, I choose to dive with a non-zero risk of the bends, and try to dive in such a way to keep that risk small, using the imperfect information available. I also choose every day to drive my car, and cross the street, and drink beer, and tie my shoes. Even though I cannot say for certain that these are risk-free activities, the reward outweighs the risk, so I do them.
All that being said, diving shallower than 20 ft seems to have a very small probability of causing DCS. I am not aware of any cases of this, and would be surprised to hear of one, especially given the information in the study John posted in #12. That study mentions that the 1999 US Navy Divers Manual allows for a direct ascent from 20 ft, even for fully saturated divers. I looked for a similar figure in the
current USN manual (2017), and couldn't find it. Not sure if their position has changed, or if I just couldn't find it buried in the 1000-page document.