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I think this would be worth doing, as updated firmware is likely to work better with more recent versions of Cura. Please comment with any objections though e.g. you need to use an old version of Cura for some reason.
The last record I can find of the Ultimaker firmware being updated is from 2017 #635
Maybe newer firmware (if there is any) would work better with the more recent versions of Cura that we're using.
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