there is no such thing as guaranteed delivery of SNMP anything.

although net-snmp tools have an option to change the transport...

General communication options
  -p <P>        use port P instead of the default port.
  -T <LAYER>    use LAYER for the network layer.
                        (UDP or TCP).
[download]

i've never seen a device that can use anything other than UDP

even encrypted SNMPv3 is still UDP...