PeerGuardian is bad, using it with emule is even worse. I suggest using s proper firewall or at the very least upgrade to its 'replacement', Protowall. Then make sure your blocklist doesn't have many entries, because all of these safelists are a total crock, your just blocking out more perfectly legitimate ips than 'evil'.
As for UDP, as far as my understanding of this protocol goes, it is totally useless for transferring vital info, all that is sent is source details. For anything else you would get massive delays and corruption due to the nature of the codec. A UDP packet is 100% expendable in so far that it doesn't matter if it reaches its destination (it doesn't even bother checking) and the contents are easily sniffed by anything
So as far as filtering out udp, don't bother. Of course, block flood attacks (my router does that), but as for packets, the only info in them is information on sources, so blocking them will do nothing but block out sources for download
To answer the questions. Speed is not effected, source availability is. ed2k doesn't really implement udp as far as I know, emule most certainly does (to exchange info on spread, complete sources, and source info [and probably other expendable data]) and I think its intercal for Kad connectivity.