On the complexity analysis of quick-union in Algorithms by Sedgewick and Wayne
Yes, you are correct!
You have identified a typo in that book, Algorithms, the fourth edition by Robert Sedgewick and Kevin Wayne. Please check the errata for the first printing (March 2011) of the fourth edition.

p. 226
Printed:  in the worst case, it needs 2 N + 1 array accesses
Fixed:    in the worst case, it needs 2 N - 1 array accesses
Reported by Victoria Solomon, 15-Sep-11.