“The notion that the teaching authority of the Church is infallible under some conditions is certainly a development arising from the Church's early sense of her own indefectibility.”
Notice how Liccione’s theory of development personifies “the Church.” He treats the church like a 2000-year-old teenager who is trying to find himself. And he treats the progress of dogma like the diaries of a moody, confused adolescent.
However, the church is not a person. It has no personal continuity–analogous to the human lifecycle. It cannot reflect on itself.
At most, later theologians can reflect on earlier theologians. But there’s no personal entity undergoing a process of self-discovery. Instead, you simply have a bunch of explorers trying to cut a path through the jungle.