On your router, disable universal plug-n-play and PCs will not be able to alter router settings automatically. You can close the UDP port using the router's admin.
I cannot think of a reason a PC needs to open a UDP port. And with UDP, there must be a corresponding port-forwarding setting to route incoming UDP packets to a specific LAN IP address which, if DHCP, will change anyway.
A game might setup port-triggering. A VoIP ATA device might want a port opened. An IP camera might need such.
Normally, routers don't block outgoing UDP, only incoming, unless there's a port-forwarding rule for UDP on a given port number for a certain LAN IP address.