I had long time to have a look at Electromagnetic Relay datasheet, and for products these aiming measuring devices ( DMM / Oscilloscope).
I do not own any ultrasonic cleaning tools.
But I found an interesting advice from Panasonic.
(Panasonic Corporation Electromechanical Control Business Division)
Avoid ultrasonic cleaning on relays. Use of ultrasonic cleaning may cause breaks in the coil or slight sticking of the contacts due to the
ultrasonic energy.
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Note: This advice stands for single Electromagnetic Relay cleaning, and also if they are mounted over a PCB.