The newer firmware gets installed when you insert the newer dvd, and stays in memory. When you insert the older dvd, it sees that the current firmware installed is newer, and does not install the older firmware. So yes, the nav ecu "remembers" the newer firmware (so the I Agree button goes away).
You can revert to older dvd's. I believe the only time when you can is from a newer dvd to version 0.1.