Right. No dogma is "protected from being misunderstood" because a misunderstanding is due to the human error, lack of knowledge and/or poor intelligence. Infallibility means that all dogmas/doctrines/infallible decrees are protected from error/being wrong. That is, they are true.
The issue of understanding these truths is a matter of human ability, energy, effort. Those that are properly trained/educated can readily understand doctrines. Those that are not, have to learn/study. That's why catechisms are created...to explain complex ideas.