I don't have two Macs to test it on (well, I do have two Macs, but one's older and is running Mint), but I just installed Sonoma on a new APFS volume my M1 Air, and Universal Control seems to be working perfectly between it and my iPad mini 6 (which is running iPadOS 16.5, not the new iPadOS 17 Beta... for now).
Will probably swap my approach and upgrade my main volume to Sonoma, keeping a mostly bare-bones Ventura volume on hand for emergencies.