From my experience, if it states "Ony" under the firmware version on the first page of the guide, you must use that version. If it says "Minimum" you can use a more recent version.
I had issues going through the key learning procedure the first time I installed one and updated the firmware without first selecting the one required by the guide. I'm not sure why, after selecting the vehicle when you first plug in the module, they can't have the correct firmware showing instead of the most recent, but maybe that will be an improvement made in the future?
