Should I integrate ERP to Ignition using SOAP and WSDL in 2021?

My $.02 is that you should not.
I had significant performance/memory leak issues using SUDS in Jython 2.5. The easiest solution for us at the time was using the Sepasoft web services module, as the plant production was dependent on the app in question.
I cannot say whether Jython 2.7 would have the same issues with hanging connections when using the SUDS library. It may be fixed, but the SUDS library is still unmaintained, regardless. IMO, even if it works for you, you may be buying yourself a maintenance nightmare.