There are plenty of rotary folks who run synthetics that are heavily group IV or V.
IIRC, what I heard was that the problem was only with one specific type of synthetic basestock that wasn't even found in a majority of oils at the time. It was just impossible to tell which oils had it and which didn't, and Mazda didn't feel like going to all the trouble to validate a ton of oils or create a whole new spec when decent conventional oils worked just fine.
Gotta say though, I got none of this from an official source and I can't even find where I originally read it, so please take it with a fistful of salt.
Either way, I can't imagine it's a big problem. I definitely saw Mola Kule here say most synthetic basestocks burn nice and clean, so if it ever was a problem for rotaries, it likely isn't any more.