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If you're worried about that you should be looking at what versions are changing when you upgrade. New images for system pods means pods get restarted.

@creamy-pencil-82913 Yes. I know if new RKE2 version contains new system components they should be restarted but as my understanding all user pods should not to be. Previously when I was doing upgrade I had no downtime for my cluster. Just wonder if 1.31.x has some breaking changes so it lead to this behaviour, just want to know how to schedule next upgrades so longer downtime can be expected as well from customers side

Perhaps setup a non-prod environment so you can do this there before prod ?