Thanks. My assessment is that apostrophe and hash symbol will fail when downloading. I tried many other characters that all work. I am storing it in the database so I don't think the duplication issue is an issue. This update rule works:
IF FILE_NAME(FilledForm.Form) CONTAINS '
OR
FILE_NAME(FilledForm.Form) CONTAINS #
THEN
RENAME DOCUMENT FilledForm.Form TO REPLACE_PATTERN(FILE_NAME(FilledForm.Form),'
,'') + '.pdf'
RENAME DOCUMENT FilledForm.Form TO REPLACE_PATTERN(FILE_NAME(FilledForm.Form),#
,'') + '.pdf'