Although I do not have EVERY vintage zuiko 40mm lens, I have enough to create videos on. Specifically two very comparable ones in the Olympus 35 RD's F.Zuiko 40mm F1.7 rangefinder, and the Zuiko OM 40mm F2 pancake for the OM SLR cameras.
Firstly, the 35 RD, with the 40mm F1.7 Zuiko lens. This is a 6 element lens (not sure how many groups), that is nice and sharp, goes to F1.7, and focuses up to 0.85 of a meter. Now, the biggest downside to this lens is the lack of short close focus, a common feature of rangefinders of this era. The focus throw for this lens is very short indeed; making it great for quick focusing.
The OM 40mm F2 Pancake lens is also a 6 element lens (in six groups). This lens is nice and sharp from F5.6-F16, have lovely bokeh at F2 & F2.8, and has a short focus distance of about 30cm - mine actually focuses to about 26cm! The focus ring pull is three or four times further than the RD, and the aperture ring is right at the front of the lens, which makes it easy to accidentally touch the lens.
Shooting wise both of these lenses are fun to use, and can easily be adjusted. Because the 40mm F2 pancake is sat on the OM camera, which meters through the lens, it is easier to use the onboard meter. The lens on the 35 RD has the light meter reader just above the lens, but does not have a meter in the viewfinder. This is not an issue for an experienced street tog, but can make it difficult to change on the fly, since you need to look at the lens to see your settings. In auto mode the 35 RD automatically meters and you do not need to worry about it.
On the streets, they both have their advantages. The RD is quicker to focus, the camera is quieter, and draws less attention. The 40mm F2 pancake is more versatile, can do close focus short depth of field shots, but the OM cameras are louder due to the mirror mechanisms.
On paper, the RD is the precision beast. Fast aperture, fast to focus, quiet, and with a sharp fixed lens. Being attached to a rangefinder, and without an exposure meter in the viewfinder, the 35 RD is better for seasoned street toggers.
On paper the OM 40mm F2 lens is a great all rounder. Being on the OM system, it takes full advantage of TTL metering and focusing. It also has close focucing and lovely bokeh. This lens is very usable for all levels of photographer.
Very soon I will be doing a battle of the Zuiko 40mm lenses video, and I am looking forward to seeing the results of these two lenses going head-to-head on the streets. Keep an eye out ;)