How well is i(Pad)OS 14 working on older devices?

In light of the surprise release of i(Pad)OS 14 last month, and with vivid memories of the glitches I endured with early versions of the previous version last year, I decided to turn off automatic OS updates on both my iPad Mini 4 and OG iPhone SE.

Now that version 14.0.1 is out and app developers seem to have got their updates sorted out, I’m wondering if the consensus is that it’s safe to do the upgrade?