Is there a way to downgrade from iOS 5.1.1 to iOS 4.1 without any unauthorised modifications (e.g. jailbreaking)?

I found this piece of information: http://osxdaily.com/2012/06/18/downgrade-ios-6-beta-to-ios-5/ Yes, it's about downgrading from iOS 6 beta, not iOS 6, but the way to downgrade to a previous version of iOS is basically the same.
I have an iPhone 4 running iOS 5.1.1 and an iPod touch 4 running iOS 5.1.1 as well. None of them is 'jailbroken'. I upgraded my iPod touch to iOS 6 for exploring it a bit more and reverted back to iOS 5.1.1. How? I did it the way stated by the website I mentioned above: just by Option-Clicking the 'Restore' button on iTunes and select the iOS 5.1.1 software. No need to enter recovery mode or DFU mode whatsoever.
In fact, Apple doesn't allow users to downgrade to a previous version of iOS: 'Downgrading to a previous version of iOS is not supported.' (http://support.apple.com/kb/TS3694) The reason why I could downgrade from iOS 6 to iOS 5.1.1 may be, as the above website said, 'Typically you can’t downgrade iOS versions so easily, but because Apple is still signing iOS 5.1.1 this allows downgrading to commence with minimal effort.'
I was wondering whether I could revert all the way from iOS 5.1.1 to iOS 4.1 (the version that was shipped along with the launch of the iPod touch 4 in September 2010). (for experimental purposes)
I downloaded the iOS 4.1 (a list of iOS software: http://osxdaily.com/2010/10/30/download-ipod-touch-firmware-ipsw/) and tried Option-Clicking when restoring this iOS 4.1 — no luck. iTunes said 'This device is not eligible for the requested build'. And I did a bit of research and found that there are ways to downgrade from iOS 5.1.1 to iOS 4.1, but it seems you have to jailbreak the device, which is complicated and I don't want to do.
So, is there a way to downgrade from iOS 5.1.1 to iOS 4.1 without any unauthorised modifications (e.g. jailbreaking)? Thanks in advance.

No, downgrading from any version of iOS to an earlier version is not supported.

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