Actually, as someone who has written an HTML parser by following the HTML5 spec, I see it as the opposite: because every string of bytes essentially corresponds to some HTML tree, there are no special "invalid" edge cases to consider and everything is fully specified. That's the best situation, since bugs tend to arise at the edge cases, the boundaries between valid and invalid. But the HTML5 spec has no edge cases: the effect of any byte in any state of the parser has been specified.

HTML5 has a whole section which standardizes how to parse bad HTML.

In some ways, I think it's a bit of a moot point what is "bad HTML" if all parsers that conform to the standard parse it in the same way. The spec does mention certain points as being parse errors, but are they really errors after all, if the behaviour is fully specified (and isn't "give up")? In fact, disregarding whether some states are parse errors actually simplifies the spec greatly because many of the states can be coalesced, and for something like a browser or crawler, it's completely irrelevant whether any of these "parse errors" actually occurred during the parsing. One example that comes to mind is spaces after quoted attribute values; a="b" c="d" and a="b"c="d" are parsed identically, except the latter is supposedly a parse error. Yet both are unambiguous.