IIRC both k8s and nomad rely on the Raft algorithm for consensus, and so both of them inherit the requirement of a minimum of 3 nodes from that algorithm.
If you want something to run some containers in the cloud, and you aren't concerned by the occasional failure, then there is no issue running a single Nomad (or k8s) on a single machine and later adding more if and when you require it.
And yes, nomad recommends 3 - 9 nodes in prod, maybe 11 or 13. The 3 are necessary to be able to tolerate one broken/maintained node and maintain the ability to schedule workloads.
You can increase the number of tolerated nodes by increasing the number of nodes - 5 tolerate 2, 9 tolerate 3, 11 tolerate 5, 13 tolerate 6, but raft becomes slower with more nodes, because raft is a synchronous protocol.
However, it is entirely possible to run a single node nomad system, if the downtime in scheduling is fine.
We run a Raft cluster of 5 voting members with 13,000 physical Nomad nodes mixed across OS's with a bunch of random workloads using docker, exec, raw_exec, java, and some in-house drivers. I'll clarify that (and I can't... because I can't edit my post anymore :( ).
We're nowhere near that size, but the architecture is probably identical.
Hashicorp is doing a smart but normal thing for on-prem sizing there - they are recommending specs which ensure you have no problems for a lot of workload sizes. And "workload" can grow very large there, since a single DC can handle up to 5k clients and such.