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there is no indication that G might not have a problem with it in the future
We never know what to expect from Google et al, but I certainly wouldn't expect this to be a problem. Although usability experts generally recommend underlined links, many designers omit the underline for appearance reasons. They may put the links in a different color so they stand out, for example, and add hover effects for further differentiation. This is particularly true for text links in an obvious navigation menu, where visitors will easily spot the links without a tacky underline. (Or, to be more precise, an underline that some artsy designers might consider tacky.)