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$R^2$-corrected dark energy (DE) models in $F(R)$ gravity have been widely investigated in recent years, which not only removes the weak singularity potentially present in DE models but also provide us with a unified picture of the cosmic history, including the inflationary and DE epochs. Towards the unified interpretation of dynamical DE all over the cosmic history in the class of $R^2$-corrected DE models, we explore the universal features of the scalaron dynamics in the radiation-dominated epoch, along with the chameleon mechanism, by keeping our eyes on the inflationary and DE epochs. We show that the scalaron evolution does not follow a \textit{surfing solution} and is mostly adiabatic before big bang nucleosynthesis (BBN), even properly including the \textit{kick} by the nonperturbative QCD phase transition, hence a catastrophic consequence claimed in the literature is not applied to this class of DE models. This is due to the presence of the gigantic scale hierarchy between $R^2$ correction and DE, so is the universal feature for the class of $R^2$-corrected DE models. The prospects for the post- or onset-inflationary epoch would be pretty different from what the standard $R^2$ inflationary scenario undergoes due to the presence of the chameleon mechanism.