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I have asked Google and the answer I got was, shall we say, less than straightforward. I really don't care what the answer is, I would just like a yes or no so I can do it right.
There are some past threads on this forum in which people have discussed their correspondence with Google on the question; unfortunately, those threads may be hard to find.
If you're really concerned, why not e-mail AdSense Support again with a specific example of a page on your site that contains affiliate links in the format that you want to use?