Committee Chairman Jim Jordan pounded his gavel shortly before 3 p.m. ET, signaling an end to Robert Hur's testimony after nearly five hours at the witness table.

Hur departed the hearing room after withstanding pointed attacks from across the political spectrum: Democrats accused him of including gratuitous language about Biden's mental acuity, while Republicans slammed his decision not to bring criminal charges.

Though Hur at times grew animated as he defended his work, he remained measured and disciplined throughout his testimony.

Former special counsel Robert Hur would not specifically weigh in on whether or not Congress should have access to audio recordings related to his report when pressed by Republican committee Chairman Jim Jordan.

Jordan directly asked Hur: "Is there any reason why you can see why the American people and their representatives in United States Congress should not have access to those tapes?"

But Hur would not say either way, and instead responded by saying that his report did take into account the audio recordings. It was unclear which recordings Hur was referencing; given the way Jordan asked the question, it could have been regarding audio of Biden's interview with Hur or audio of Biden's conversations with his ghostwriter.

"Chairman, what I can tell you is that my assessment that went into my conclusions that I described, my report was based not solely on the transcript, it was based on all of the evidence, including the audio recordings," Hur said.

Jordan then asked Hur again, saying if he thought the audio recordings were "valuable evidence" for his report then "shouldn't the United States Congress have access to that same information?"

"It is not for me to weigh into what information Congress should or should not have" replied Hur, while reiterating that he believed "the audio recordings were part of the evidence, of course, that I considered in coming to my conclusions."

In a notable exchange, Hur took issue with Democrats' characterization that his report cleared President Biden of criminal wrongdoing, testifying that he "did not exonerate him."

Rep. Pramila Jayapal, D-Wash., questioning Hur about his report, stated that the "lengthy, expensive and independent investigation resulted in a complete exoneration of President Joe Biden."

Hur, looking to correct Jayapal's characterization, responded by saying, "I need to go back and make sure that I take note of a word that you use: Exoneration," he said. "That is not a word I used in the report and not part of my task--"

Jayapal then jumped in and began speaking over Hur, as she tried to argue that Hur's report indeed did "exonerate" Biden.

But Hur again pushed back, quickly replying: "I did not exonerate him, that word does not appear in the report."

Rep. Matt Gaetz, R-Fla., read an excerpt from the press conference that President Biden convened the night Hur's report was made public -- highlighting Biden's claim that he "did not share classified information" with his ghostwriter.

"That's not true, is it, Mr. Hur?" Gaetz asked.

"That is inconsistent with the findings based on the evidence in my report," Hur said.

When Gaetz called it a lie, "as regular people would say," Hur laughed.

A transcript of President Biden's interview with special counsel Robert Hur, released to lawmakers prior to Hur's testimony and obtained by ABC News, contradicts the president's characterization of an exchange about the death of his son, Beau Biden, from brain cancer.

"There's even a reference that I don't remember when my son died," a visibly irate Biden told reporters hours after special counsel Robert Hur's report was made public last month. "How in the hell dare he raise that? Frankly, when I was asked the question, I thought to myself: It wasn't any of their damn business."

But according to an ABC News review of the transcript, it was Biden, not Hur, who first invoked his son's death -- and the president indeed struggled to recall the exact year it occurred.

"And so I hadn't, I hadn't at this point ... I hadn't walked away from the idea that I may run for office again," Biden said during a line of questioning about his activities after leaving the vice presidency in 2017. "But if I ran again, I'd be running for president," he said, per the transcript. "And, and so what was happening though -- what month did Beau die? Oh, God, May 30th--"

After two others present reminded him that Beau passed away in 2015, Biden said: "Was it 2015 he had died?"

"It was May of 2015," another person said, according to the transcript.

The incident is cited by Hur, who characterized Biden in his 388-page report as a "sympathetic, well-meaning, elderly man with a poor memory" -- a description that Biden and his legal team sharply criticized in the aftermath of the report's publication.

While the transcript showed moments of memory lapses on Biden's part, his testimony also included detailed descriptions of events that happened many years prior, including policy debates and his own foreign travel.

-ABC News' Mary Bruce and Benjamin Siegel