Most firmware releases have a thread in Andy's sub-forum here where folks who upgrade will post back if they ran into anything unusual. Definitely read those threads before doing any upgrades, especially with the 5442 which seems to be getting quite a few "hey, test this" firmware upgrades while folks here + Andy work with Dahua engineers to hopefully get a better performing auto-IR feature.
If your current firmware is stable, not upgrading is always an option. If you do want to upgrade, it's probably best to do it on just one camera, let it run for a good bit, then consider doing the other camera.
The only camera models I've seen that you have to be careful about when doing firmware upgrades are the "C" models that Dahua only meant for sale in China. Dahua's firmware for these models only supports the Chinese language. Some folks have found a way to flash a hacked Dahua firmware on them that adds support for other languages. If you try to upgrade the firmware on one of these models, you may brick them (worst) or have it switch back to Chinese language only (best). Andy doesn't sell these models unless you go out of your way to ask him to get some for you. Your 5442s are most definitely not those types of cameras. Other than that, I haven't ever seen any region/international/US restrictions on firmware/camera models that you have to worry about.
Andy's firmware usually comes in two flavors, the difference being one uses the Dahua logo on the webpages whereas the other one uses a generic "IPCam" logo instead. There used to be separate NTSC/PAL firmwares, but that setting is now selectable in the web interface.
You can upgrade the firmware using the Config Tool or SmartPSS applications or via the camera's web interface. Once or twice I've had the camera report that the upload failed but rebooting the camera and trying again always worked. After the upgrade, it's suggested to restore the camera to default and reconfigure it again. I'm lazy and will only do that if I run into any problems after the firmware upgrade (which I haven't had happen yet, knock on wood).
One Dahua firmware may apply to many different camera models, so if you don't see your model number listed in a thread title in Andy's sub-forum, it doesn't necessarily mean there aren't any firmware upgrades for it. The first post of each of Andy's firmware upgrade threads usually include the various models that it applies to.