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I don't have the non-nav version but I did do the upgrade to version 3.4 to my 2016 XLT EL and the process went smoothly. There are a couple of threads on this which are what I used for information. Cyanlabs site is very self-explanatory when it comes to doing the actual upgrade.
So far, even the most recent works on the older APIM firmware's, just don't get some of the features like calm screen.Anyone know if there is a limit of which version will work on these older cars? I see they are on 3.4.21098 now. I would just try it but don’t want to break anything. Lol