That is correct. The entry would not be captured by camera.
Even though that area is still considered ZTL, and the police could still stop you, however the ZTL ordinance explicitly says that using the two specific routes illustrated below, to return the rental car, are allowed, so in the unlikely event you are stopped by the municipal police, all you need to tell them is that you are returning your rental car at the Interpark Garage Europa (where the rental cars are housed).
Below are the directions on Google maps.
I entered from Piazza Taddeo Gaddi to the Interpark Garage Europa.
Piazza Gaddi is outside of the city center and outside the ZTL, and it is a piazza you will go through if you come from the A1 freeway exit called FIRENZE SCANDICCI (or also if you come from the Pisa/Livorno-Florence freeway called FIPILI).
Both routes suggested by Google maps (either via Ponte Vespucci or via Il Prato) are permitted routes with no camera.
https://goo.gl/maps/L5kNnKTsN4EB4VBt5
If you come from Siena and come through the Piazzale di Porta Romana then this is the permitted route (eventually through the Ponte Vespucci)
https://goo.gl/maps/61ccBT1Bj4xDPxYW7
if you use the latter route be aware that Via Senese between Le Due Strade and Piazzale di Porta Romana is a bus lane only going north, therefore you must turn right on Via del Gelsomino, then left on Viale del Poggio Imperiale, to reach Piazzale di Porta Romana.
https://goo.gl/maps/2cG3QKNyDd1a4wrR9
To refuel before returning the car, do so as soon as you see a gas station after you exit the freeway.
On the first route above, there are gas stations on Viale Etruria. On the second route there are gas stations on Via Senese, right after Galluzzo.