I don't think I would call this undefined behavior... the behavior is defined by what happens on the hardware when it's executed! There are many, many classical effects on raster hardware which are accomplished by changing registers within the horizontal blanking period... copper bars, mode 7, certain paralax scrolling. When you're on a resource limited system it becomes an art to get the most out of the platform. Lo…
"Unefined" refers to the spec, not the hardware. https://en.wikipedia.org/wiki/Undefined_behavior This case appears to be "undocumented scenario" or "unsupported use-case", though.
If you want an example of something that’s really an unsupported use case, consider mid-frame palette changes—in order to do this, you actually have to disable and re-enable rasterization during the horizontal blanking interval. It works, but it is difficult to get right and the PPU is clearly not designed with this in mind.
Short of having an actual spec in hand, it would appear that mid-frame scroll register updates were entirely normal and an intended way to use the device, based on the evidence (no other reason for sprite zero check, lots of first-party titles using this feature, other mid-frame updates are much more difficult).