Yes, eventually but that is not the point. They could do it now and they are opting to make me wait for no reason other than I stupidly paid them for FSD YEARS before the people getting their perfectly functional cars upgraded.
Or maybe it is because they aren't ready to support HW3+MCU2 upgrades for AP2.0 cars yet. Do they have the training materials all ready? Are the upgrade kits completed? Do they have stock of them available?
We have heard of one case where a SC did this upgrade, but they used an AP2.5 upgrade kit, and if I recall correctly they had to leave the car torn apart for at least a week while they got necessary parts that weren't in the kit. It is likely that that SC made a mistake, and that Tesla used that as an opportunity to field test the upgrade they are working on.
I do think that Tesla should prioritize the upgrades to people that have failed MCUs, and my guess is that they will once the supported upgrade kit is available.