As a general rule, any new applications for VFDs should have what are commonly referred to as "inverter duty" motors. VFDs use a PWM output that is like AC, but is really a series of DC pulses. These pulses can cause voltage spikes that will damage older motors, especially at voltages over 230V. This is because under the right circumstances (and Murphy's Law will apply), the spikes will exceed the insulation rating of older motor windings and cause small phase-to-phase shorts, but which rapidly lead to overall failure. Inverter Duty motors use much higher insulation values in the magnet wire used for the windings so that they can survive that onslaught. There are also cooling issues because if you are slowing down the motor with the VFD (its primary purpose), then you are also slowing down any cooling fans the motor may have been relying on. So inverter motors often have externally powered constant speed fans on them.
If you have existing motors, and they are ones that do not need external cooling fans, i.e. TENV, then you can often use load filters to mitigate the voltage spike problems, rather than replace the motors. But there are a lot of other issues to consider as well, there is no "one size fits all" answer.