Vacuuming a hardwood floor is perfectly fine as long as you set the vacuum cleaner to the floor setting and be careful to not scratch the hardwood floors.
I would recommend using a hardwood floor attachment on the host to vacuum the hardwood floors to avoid scratching them which is what I do now.
I have a shark vacuum cleaner with a hardwood floor attachment and it does a great job at cleaning my hardwood floors without scratching them.
I then mop the hardwood floors after vacuuming them to remove any excess dirt and to keep them shiny.