I do it all the time on my 2019 Svart, both upshifts and downshifts. Upshifting is super smooth, you just need to apply a little "up" pressure to the shifter, close the throttle for a bit (less than a second) and up it goes. It works great, a would say, north of 6,500 rpm. If you are going "too slow" for the engine to need the upshift, it wont go. Same when downshifting (I do it while getting to a traffic light): Close the throttle, apply downward pressure to the shifter, not a lot, and when the engine slows enough, it will downshift.
You can do the same with manual cars... it was very easy on my Miata and my RSX, not so much on my 1974 VW Beetle.