It is, of course, always wisest to accept the judgements of your QSA when making judgement calls, however during your own in-house compliance work I recommend checking out the Navigating PCI-DSS: Understanding the Intent of the Requirements document whenever confused by a requirement.
Looking at page 32 of that document we see the following write up regarding requirement 6.4.2
Reducing the number of personnel with access to the production
environment and cardholder data minimizes risk and helps ensure that
access is limited to those individuals with a business need to know.
The intent of this requirement is to ensure that development/test
functions are separated from production functions. For example, a
developer may use an administrator-level account with elevated
privileges for use in the development environment, and have a separate
account with user-level access to the production environment.
In environments where one individual performs multiple roles (for example
application development and implementing updates to production
systems), duties should be assigned such that no one individual has
end-to-end control of a process without an independent checkpoint. For
example, assign responsibility for development, authorization and
monitoring to separate individuals.
So, by the strictest reading, then yes. Developers have access to the development system, and may have user role access to production, but a separate individual will actually perform application installs/administration and system administration of the production environment. The real purpose of all this, as discussed in the last paragraph, is that there is no single individual that has end-to-end administrative control of the service. What they want are multiple people with visibility into the process so that no single person can do make changes in development and roll them into production unquestioned.
So, whenever possible, the official advice would be best summed up with a picture.
In serious practice, however, you need to figure out how best to manage that auditing and/or segregation while documenting your processes and eventually getting it properly handled by your QSA.