UUIDs were introduced in v3.6, however after upgrading from 3.4 it's possible that the collection state in-memory cache contains an entry for the collection (meaning it's sharded) but does not contain a UUID.  As such, this assertion will fail when a $changeStream compares the UUID from the oplog entry to the UUID in the collection state cache.

 Edit:

Since change streams requires readConcern majority, the secondary will perform a shard version check but not necessarily refresh its cache. For change streams, mongos will not attach a shard version which means that the version check will always pass and no refresh is performed.