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BIP32 does not work with uncompressed public key; thus, all BIP32-related fields must explicitly require that the public key for the map key value must be serialized in compressed format

I'm actually not sure if that is strictly true. While xpubs are serialized with the compressed pubkey and BIP 32 uses the compressed pubkey in derivation, there is no specific mention of the compressed-ness of the derived key for actual use. Compressed keys are used as a convention, but I don't think they are required by BIP 32. Pubkeys can be easily un/compressed.

If we clearly see use of uncompressed keys as a bad practice, why we should not just update both standards specifying that non-compressed keys will be non-standard application for both BIP32 and PSBT?

Note that there are some applications which use BIP 32 and produce uncompressed pubkeys. The one that comes to mind is Ledger devices.

They may continue doing so, but as a non-standard behavior. The idea of being "Standard" is about what devs will expect from API by default. It does not limit devs from what they can do in addition to that, but distinguishes recommended behavior / good practices.

@dr-orlovsky, @achow101: What’s the status on this pull request?

It's been 3 years, so I'm going to go ahead and NACK this for the reasons previously stated.