This has been coming up quite a bit lately –
The answer is YES, and we have updated the SCOM 2012 R2 documentation:
https://technet.microsoft.com/en-us/library/dn281931(v=sc.12).aspx
There is no minimum UR level required to support this. However, we always recommend applying the most current cumulative update rollup to your SCOM agents.
Operations Manager Windows Agent
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Windows Server 2003 SP2
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Windows 2008 Server SP2
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Windows 2008 Server R2
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Windows 2008 Server R2 SP1
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Windows Server® 2012
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Windows Server® 2012 R2
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Microsoft Hyper-V Server ® 2012 R2
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Windows Server 2016
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Windows XP Pro x64 SP2
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Windows XP Pro SP32
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Windows Vista SP2
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Windows XP Embedded Standard
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Windows XP Embedded Enterprise
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Windows XP Embedded POSReady
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Windows 7 Professional for Embedded Systems
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Windows 7 Ultimate for Embedded Systems
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Windows 7
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Windows® 8
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Windows® 8.1
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Windows ® 10
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Windows Server®2016 Technical Preview