Not true. Depends on age, when young they will easily eat each other if not fed frequently! Territorial disputes play a role ime when they get older and even then when a stray rbp invades or swims in another part of the tank he's usually chased off immediately and goes back to his normal perch!
The shoal will go after a weak and or injured shoal mate hungry or not.
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when the Ps are young, no territorial problems. yes.
But once when 1 of my Ps were sick, it was in a corner of the tank and others didn't chase him.