"While operating" is the issue, if I understand the question. Contacts are not made for the pulsed discharges out of IGBT modules. If the sparking doesn't get the contacts, it may get the transistors, etc. Even at 60 Hz, contacts versus zero-crossing solid state devices are night versus day, in terms of motor reliability.
That said, there's nothing wrong with running VFD output through relays or such. Y/D switching to 5-30 HP is a good way to get more bang out of a spindle motor on a machine tool. Just need to provide a dead spot (bb, or Base Block for Yaskawa; FRS, or Free Run Stop, Mitsubishi, etc) while you're doing it. Have built many thousands of such units.