I don’t think it is, but like you am unsure about what the guarantees of the protocol are here.
I kind of reverse engineered this looking at miniupnpc and netlink sources, along with an strace of ip route show, which is where the repeated recv calls jumped out to me as a difference between our code and other tools.
0recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=NULL, iov_len=0}], msg_iovlen=1, msg_controllen=0, msg_flags=MSG_TRUNC}, MSG_PEEK|MSG_TRUNC) = 2932
1recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=[[{nlmsg_len=1444, nlmsg_type=RTM_NEWLINK, nlmsg_flags=NLM_F_MULTI, nlmsg_seq=1743240135, nlmsg_pid=3248093}, <snip> 0) = 2932
2recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=NULL, iov_len=0}], msg_iovlen=1, msg_controllen=0, msg_flags=MSG_TRUNC}, MSG_PEEK|MSG_TRUNC) = 3384
3recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=[[{nlmsg_len=1504, nlmsg_type=RTM_NEWLINK, nlmsg_flags=NLM_F_MULTI, nlmsg_seq=1743240135, nlmsg_pid=3248093}, <snip> 0) = 3384
4recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=NULL, iov_len=0}], msg_iovlen=1, msg_controllen=0, msg_flags=MSG_TRUNC}, MSG_PEEK|MSG_TRUNC) = 5196
5recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=[[{nlmsg_len=1488, nlmsg_type=RTM_NEWLINK, nlmsg_flags=NLM_F_MULTI, nlmsg_seq=1743240135, nlmsg_pid=3248093}, <snip> 0) = 5196
6recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=NULL, iov_len=0}], msg_iovlen=1, msg_controllen=0, msg_flags=MSG_TRUNC}, MSG_PEEK|MSG_TRUNC) = 20
7recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=[{nlmsg_len=20, nlmsg_type=NLMSG_DONE, nlmsg_flags=NLM_F_MULTI, nlmsg_seq=1743240135, nlmsg_pid=3248093}, 0], iov_len=32768}], msg_iovlen=1, msg_controllen=0, msg_flags=0}, 0) = 20
8recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=NULL, iov_len=0}], msg_iovlen=1, msg_controllen=0, msg_flags=MSG_TRUNC}, MSG_PEEK|MSG_TRUNC) = 424
9recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=[[{nlmsg_len=76, nlmsg_type=RTM_NEWADDR, nlmsg_flags=NLM_F_MULTI, nlmsg_seq=1743240136, nlmsg_pid=3248093}, <snip> 0) = 424
10recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=NULL, iov_len=0}], msg_iovlen=1, msg_controllen=0, msg_flags=MSG_TRUNC}, MSG_PEEK|MSG_TRUNC) = 600
11recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=[[{nlmsg_len=72, nlmsg_type=RTM_NEWADDR, nlmsg_flags=NLM_F_MULTI, nlmsg_seq=1743240136, nlmsg_pid=3248093}, <snip> 0) = 600
12recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=NULL, iov_len=0}], msg_iovlen=1, msg_controllen=0, msg_flags=MSG_TRUNC}, MSG_PEEK|MSG_TRUNC) = 20
13recvmsg(3, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=[{nlmsg_len=20, nlmsg_type=NLMSG_DONE, nlmsg_flags=NLM_F_MULTI, nlmsg_seq=1743240136, nlmsg_pid=3248093}, 0], iov_len=32768}], msg_iovlen=1, msg_controllen=0, msg_flags=0}, 0) = 20
One other thing I did read about, but not implement, is checking of the sequence number on each message to ensure it was meant for our request. But as we only make a single request i thought this should be OK to omit.