Lol! My terms? No. Jesus' terms certainly. Jesus never meant to rest authority for the church, his bride, in any one man. So, I reject your idea of an infallible church/pope outright. It's just that simple.
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“And I tell you, you are Peter, and on this rock I will build my church, and the powers of death shall not prevail against it. I will give you the keys of the kingdom of heaven, and whatever you bind on earth shall be bound in heaven, and whatever you loose on earth shall be loosed in heaven.” (Matthew 16:18-19)
And what does that have to do with the pope? Peter still has the keys. So anyone claiming to have them is straight up lying.