repeated use of HKDF-extract on the same PRK
Taken directly from the RFC:


  The second stage "expands" the pseudorandom key to the desired
  length; the number and lengths of the output keys depend on the
  specific cryptographic algorithms for which the keys are needed.


The use of the plural here suggests (at least to me) that yes, it's ok to expand the same PRK several times with different contexts.  Can you provide any links (within SE or otherwise) that suggest otherwise? 

Also from the RFC, regarding the 'info' parameter of the expand step:


  In particular, it may    prevent the derivation of the same keying
  material for different    contexts (when the same input key material
  (IKM) is used in such    different contexts).