No, they cannot be avoided. Not even on phone lines, which can take a couple hours, also guide data will not be downloaded when you have an update pending.
With the newer Roamio, there is no modem, only network, so updates only takes about 10-15 minutes and does not interrupt anything else on the network.
Original S1 (Recycle Heaven)
Series 2 (PLS, sold)
TiVo HD (XL, PLS, "652")
Juliet Basic (4XL, PLS)
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to start streaming on Roamio/Bolt!