"Ideally", avast should work correctly with System Restore. Why? Because SR is already there, and the bottom line is that users won't suspect that the problem is in how SR is working or is supposed to work. User will get to the conclusion (whether correct or not, doesn't matter) that anything else but SR is the culprit.
Moreover, whichever other problems or bugs are there in other software, or drivers, or in the system, users won't care: bad, bad Avast!
I personally never use SR, and maybe SR is the real problem (or something else), but that doesn't mean that avast should disregard it (which I'm not so sure they do, as the reporters here seem to believe); if not for something else, then for the simple reaction of users blaming avast.
A possible workaround could be disabling defense module, stop all shields, then disabling the driver and setting the service to stop (not to autorun, and not to run manually; just not to run at all). Then perform the action in SR (going back to a previous SR point). Once all is running, reset the driver and the service as they should and reboot again. Then review that the shields are working. Finally, update avast again (since the SR point may have left you with an older version).
But, if I were in the need to do all that, I would forget about avast, I would perform the SR action and once the system is working, I would simply repair avast and reboot again. The result probably would be the same in most cases.
"Ideally", it should work correctly with no additional actions. But we live in a real world, and our computers have many conflicts and bugs (and malware). Maybe Avast Software could do better, but let's not put *all* the culprit on avast alone, specially when other AV tools have similar issues.