I must admit just from reading the description, it doesn't sound that the correct inference is that it's never been used."In 2023, syzbot found a null-ptr-deref bug triggered when UDP-Lite attempted to charge an skb after the total memory usage for UDP-Lite _and_ UDP exceeded a system-wide threshold, net.ipv4.udp_mem." to me reads that if the total memory usage never exceeded that threshold then the bug wouldn't trigger. So, wouldn't this bug only affect people who changed that threshold down below the current usage? Because otherwise, usage wouldn't go above the threshold anyway?
And just because the kernel is logging a deprecation notice, there's no guarantee that anyone would ever see that, depending how often it was logged.
But that said, I'd never even heard of this feature, and wouldn't be at all surprised if many routers hadn't just silently dropped these packets anyway because they didn't recognise the protocol version.