I don't see any known SEO issue, although the usage of header request information may not produce the ideal results -- I'm going to assume you are providing jpg unless you have good reason to believe avif is supported. IE the https://caniuse.com/avif?
List item
But when the browser's identity is not specified, migration to a content distribution network, proxy caching, other network infrastructure upgrades aimed at improving the user access to online content, et
la or partial support is available, IE https://caniuse.com/avif
safari ... and other limitations based on OS of the system the browser is installed on.
[Firefox 77-92] Can be enabled in Firefox via the image.avif.enabled pref in
about:config.
[firefox 93-103] Supports still images. Animated image sequences are
not supported.
[Safari] Only available on macOS 13 Ventura or later.
Because of valid reasons, the usage of sniffing the HTTP request for features has been deprecated but not prevented.
And yes the best practice is the <picture> tag. So the browser can select the correct image based on what it supports.
<picture>
<source type="image/webp" srcset="illustration.webp">
<source type="image/svg+xml" srcset="illustration.svg">
<img src="illustration.png" alt="A hand-made illustration">
</picture>
as well as orientation and size.
<picture>
<source media="(orientation: landscape)" ... >
<source media="(orientation: landscape) and (min-width: 1200px)" ... >
</picture>
So the picture tag becomes ideal for usage with responsive design and even more so as the https://caniuse.com/css-container-queries rolls out.
/* look "all" images go full size if their container space is below 640, this saves a lot of work */
@container (max-width: 640px) {
.wrapper > * {
flex-basis: 100%;
}
It ain't broken but rather it could be better
When you need to change those pages, it would add a small improvement to use the picture tag. If it is only affecting 5% of users to a small degree its not major but if the change if file type effects how many people use the site and that is a 5% difference ... 5% of sales is major.
Maintenance of the backend
Don't forget the time required to maintain the back end as new browser releases come out.
Andriod browser just came out with support, less than thirty days ago ...

Almost everything but Microsoft and a few mobile browsers now support avif.
Is it easier to use <picture> or keep watch?