Nothing is always 100% non-disruptive. If that would be the case, there would be no need to for an Upgrade Advisor. You could just always click update and that's it.
There have always been bugs or clients which might misbehave. There have been NFSv3 bugs, I had takeovers with NFSv3 datastores which had been "disruptive" for some apps on some VMs because they were very time-sensitive and everything was under heavy load. Also NFS VAAI might have been misconfigured which also lead to some "disruptions".
Experience (and the internet) simply tells me that the chance to get impacted by disruptions during failovers with NFSv3 are much much lower than with NFSv4.
There have been many bugs with NFSv4, but also many bugs have been fixed, both on ONTAP side and vSphere side.
Here are some newer ones (https://kb.netapp.com/Advice_and_Troubleshooting/Data_Storage_Software/ONTAP_OS/ESXi_NFS4.1_VMDK_inaccessible_after_takeover), one of the bugs has been fixed lately, for the other I'm not sure.
Also this KB says "Don't use NFS 4.1 for ESXi datastores at current time" - I understand this sort of contradicts with what the IMT or Chance said in the other thread.
But ultimately: NetApp will never assure with 100% certainty that nothing will break ever. You can't simply rely on documentation telling you "this is supported" or not. You ALWAYS need to test how your production workloads behave while you're doing maintenance in your own environment. You will never know unless you do failover-tests and check your apps for impact or latency spikes etc.
It's the same for backup: If you never confirm that restoring your backups actually works, there is no use in creating them in the first place.
You will need to decide if you take the risk and see how everything behaves. Maybe do it on weekends. Or don't take the risk, announce a maintenance and shut down your important workloads where you can't take the chance.