Yes, indexing starts at zero (that's the case for all 1-dim and multi-dim arrays). In the table of 1st AB help link you posted you see bar numbers not indexes. So don't mix bar index with bar number.
Here for further clarification two additional pictures showing 1-dim and multi-dim array examples.
This https://www.amibroker.com/guide/h_understandafl.html uses "Excel" analogy to number the columns. Since Excel starts column numbering with 1, this article uses the same. But then everything in AmiBroker is zero-based. And I guess that I need to change this article as it may confuse beginners.