Is reserving stack space necessary for functions less than four arguments?

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Your quote is from the “calling convention” part of the documentation. At the very least, you do not have to worry about this if you do not call other functions from your assembly code. If you do, then you must respect, among other things, “red zone” and stack alignment considerations, that the recommendation you quote is intended to ensure.

EDIT: this post clarifies the difference between “red zone” and “shadow space”.

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