My personal feeling based on what I see during the boot sequence is that you should be able to restore it in this case. But I don't know for sure, so I wouldn't bet
There's a "<...> usb_dnl_dfu" message before the u-boot kicks in and flashall.bat/sh reflashes all the pieces starting from IFWI, which is what I think implements the DFU board-side. And the sequence above sort of confirms my understanding. rkd do I get it right here?