Short answer is YES.
Yes, you can have tab bar in second screen. Consider the app where you have first screen as language select screen and second screen with tab bar controller.
With statement below, what Apple means is once you are in tab-bar controller and tab-bar controller is in scope, tab-bar controller should be accessible. You can hide the tab-bar, but on tapping, it should come again at the bottom of screen.
"A tab bar appears at the bottom edge of the screen and should be accessible from every location in the app."