I have low faith in the rationality of humanity in general, but the stats seem pretty good when it comes to voters being able to understand RCV: https://www.newamerica.org/political-reform/reports/what-we-...

Good enough that IMHO the benefits clearly outweigh the concerns. The beauty of the fragmentation of voting in the US, is that we can roll out different voting systems incrementally and be able to collect data on how they work without "betting the farm" on one election.