The advice "never use telnet" is fine. Yes, technically there are ways to use telnet safely (e.g. over WireGuard or a LAN), but they are fragile and I think it's better not to mention them.
Take the version in your comment for example. You wrote "With Wireguard in place, it is safe to return to legacy telnet", but that on its own is misleading: it is easy to accidentally route the connection outside WireGuard and compromise the password.
You do note later that it's not best practice and can be vulnerable (aside: I assume "are in place" should be "are not in place"), but a reader might miss that part or underestimate the risk.
Also, "safe" is subjective: telnet allows all the users on the network to try to bruteforce passwords. (SSH also allows that by default, but not for the root account, and it lets you disable password authentication entirely in favour of public key authentication etc.)
I think it's fine to give broadly-applicable-but-technically-inaccurate advice ("never use telnet"), and trust that the experts who can safely ignore this advice will understand that the advice is a simplification. (To be hyper-correct, one should give the broadly-applicable advice but also state that there are exceptions.)