Just for discussion, I feel this is true but it depends on what "alongside" means. Does it mean a nose, halfway, wheel-to-wheel? It depends on the circumstances. Here is a good write up (I didn't bother to read that actual regs): https://f1metrics.wordpress.com/2014/08/28/the-rules-of-racing/
Most relevant part here is:
"The guiding principle is that the driver on the outside should be at least level (front axle in line with front axle) with the driver on the inside to have a claim to the racing line on corner exit. Depending on the type of corner and the cars involved, either the outside or inside line may be quicker through the corner, meaning the driver on the outside may gain or lose ground from corner entry to corner exit. It is relative positions of the cars at exit — not at entry or apex — that is therefore crucial in judging these cases.
If the driver on the inside is behind at corner exit, they must leave space for the driver on the outside.
If the driver on the inside is ahead at corner exit, it is the duty of the driver on the outside to back out or take evasive action to avoid a collision."
At no point was Verstappen level with Hamilton in that corner. So, the late brake was cool and all. But, when it failed, he should have bailed left.