Yes, this is a limitation of the current XPages implementation which makes it difficult to use XPages as "XAgents" in order to produce content for a REST API with good response times or stream large attachments to a browser.
Only one XPage can produce content for a user session at the same time.
I wrote an article about this topic for our XPages2Eclipse product documentation:
http://xpages2eclipse.mindoo.de/web/x2ewiki.nsf/dx/JavaScriptServletMode
Our product does not have that limitation, it supports writing code in JavaScript and Java that is stored as standard SSJS libraries and can be called via a URL.
As an alternative, you could consider developing your own servlet in Java as an Eclipse plugin. Details can be found in the OpenNTF blog at:
http://www.openntf.org/blogs/openntf.nsf/d6plinks/NHEF-8JB9DN