Thanks for interest!
Yes I am sure, we were deploying SZs from end of 2017 starting with 3.5 and I did it same way even with 3.6, 5.0, 5.1. ( I personally did about 5 clusters of SZ 104 ) Always the same, jut same vlan and subnet, and APs were joining SZ automatically.
All kind of AP types(H510,H30,R310,R610,R720,T310,T610) not having a clue about version of FW which they were shipped with. Without any issues it worked without DHCP option.
I had issue with SZ 100 once. In combination with GPON network where mdns packets were dropped by default and it only worked with DHCP option. now I am facing the same issue but without GPON using vSZ.