Following is a response from DHS Senior Sampling Specialist, Mahmoud Elkasabi:
Apparently this is due an error in the IR dataset (I assume it exists in the other ones as well; I haven't checked). One woman in cluster 476 is coded as rural in v025 although the cluster is urban. This causes the error message. 
Here are two possible solutions:
1-	Use the nest option after you re-construct v021 and v023:
IRdata$STRAT <- as.integer(factor(with(IRdata, paste(v024, v025))))
IRdata$CLUST <- as.integer(factor(with(IRdata, paste(v023))))
DHSdesign<-svydesign(id = IRdata$CLUST, strata = IRdata$STRAT, weight = IRdata$v005, data=IRdata, nest = TRUE)
IRdata$STRAT <- as.integer(factor(with(IRdata, paste(v024, v025r))))
IRdata$CLUST <- as.integer(factor(with(IRdata, paste(v023))))
DHSdesign<-svydesign(id = IRdata$CLUST, strata = IRdata$STRAT, weight = IRdata$v005, data=IRdata)