The electronic structure of semiconductors and insulators is affected by ionic motion through electron-phonon interaction, yielding temperature-dependent band gap energies and zero-point renormalization (ZPR) at absolute zero temperature. For polar materials, the most significant contribution to the band gap ZPR can be understood in terms of the Fr\"ohlich model, which focuses on the nonadiabatic interaction between an electron and the macroscopic electrical polarization created by a long-wavelength optical longitudinal phonon mode. On the other hand, spin-orbit interaction (SOC) modifies the bare electronic structure, which will, in turn, affect the electron-phonon interaction and the ZPR. We present a comparative investigation of the effect of SOC on the band gap ZPR of twenty semiconductors and insulators with cubic symmetry using first-principles calculations. We observe a SOC-induced decrease of the ZPR, up to 30%, driven by the valence band edge, which almost entirely originates from the modification of the bare electronic eigenenergies and the decrease of the hole effective masses near the $\mathrm{\ensuremath{\Gamma}}$ point. We also incorporate SOC into a generalized Fr\"ohlich model, addressing the Dresselhaus splitting which occurs in noncentrosymmetric materials, and confirm that the predominance of nonadiabatic effects on the band gap ZPR of polar materials is unchanged when including SOC. Our generalized Fr\"ohlich model with SOC provides a reliable estimate of the SOC-induced decrease of the polaron formation energy obtained from first principles and brings to light some fundamental subtleties in the numerical evaluation of the effective masses with SOC for noncentrosymmetric materials. We finally warn about a possible breakdown of the parabolic approximation, one of the most fundamental assumptions of the Fr\"ohlich model, within the physically relevant energy range of the Fr\"ohlich interaction for materials with high phonon frequencies treated with SOC.
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