Upgrade path from Zookeeper 3.4.6 to 3.6.1

I've been tasked with updating several zookeeper clusters. We are currently running 3.4.6, and I'm wondering if I can go directly to 3.6.1, or if I have to upgrade to a 3.5.x version first, then on to 3.6.1.

I've found https://cwiki.apache.org/confluence/display/ZOOKEEPER/Upgrade+FAQ, which talks mostly about upgrading to 3.5.5. https://zookeeper.apache.org/doc/r3.5.3-beta/zookeeperReconfig.html#ch_reconfig_upgrade talks about upgrading to 3.5.0.

Has anyone else out there done this? I'm aware of the snapshot.0 issue.

Thanks, Todd