Is it true that when ideal arbitrary voltage sources are connected in parallel, this connection violates KVL?

No, it does not. Infinite current will flow through your battery and when multiplied by zero internal resistance, the voltage drop across that zero resistor will be enough to satisfy KVL.

When the current is infinite the voltage drop across a zero resistance is no longer zero. Infinity * 0 != 0. Therefore, KVL will be satisfied although it may appear non intuitive.

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