Yeah, as @andresrcs said, 3.5 is (in some ways) more major than 4.0—that said, I think you should still go for it.
For example, in the tidyverse:
our general policy is to support the current version , the devel version , and four previous versions of R.
When that was written (2019), I believe that brought us to 3.2.3. Because 3.5 has been out for quite some time now, I think you'll run into more trouble not having an updated version than you will working with the one you have now.