Can I transfer outside a loop and return within the loop and have interation and loop continue to work successfully?

LoopUntil .... EndLoop
.
.
Goto ErrorSection
.
.
EndLoop:
.
.
.
ErrorSection
.
.
Goto EndLoop

No, the loop cannot be entered in a middle.
But you can put some logic to restart from certain point.

LABEL1:
LoopUntil .... EndLoop
. IfThen flag, LABEL2
.
. Goto ErrorSection
. LABEL2
.
EndLoop:

ErrorSection:
...
Set some flag here
Goto LABEL1

: Can I transfer outside a loop and return within the loop and have interation
: and loop continue to work successfully?

: LoopUntil .... EndLoop
: .
: .
: Goto ErrorSection
: .
: .
: EndLoop: .
: .
: .
: ErrorSection
: .
: .
: Goto EndLoop