Are players permitted to resolve errors between themselves, without involving a judge?
As far as I can tell, there is no specific rule in the tournament rules that requires a player to call a judge when a rule is broken. All it says is that a player is responsible for


  Calling attention to any rules or policy infraction they notice in their matches.


In fact, the infraction procedure guide says


  If a minor violation is quickly handled by the players to their mutual satisfaction, a judge does not need to intervene.


You should consider, though, that it may be unwise to make such an agreement when your opponent breaks a rule. These agreements are informal and do not involve a judge, so your opponent is under no obligation to extend the same courtesy to you. Plus, an unscrupulous player could use these agreements to their advantage.