I haven't read the article yet but I think that means that UDP was used less than TCP and so routers/operating systems didn't optimize for it as much as they did for TCP. Hope this helps.
there's nothing to optimize with UDP, you put a datagram on the wire and off it goes. There's no sequence number like in TCP to re-order and construct a stream on the receiving side. There is no stream, it's UDP. You put a datagram on the wire and that's it. There no syn/ack either so no congestion control in routers, no back-off or anything.