Recovery is different for each of us. There are so many variables. If you are younger, 20 something, an upper/lower split should be no problem, barring some sort of injury you have not shared. IMHO, recovery time and over training are two of the most over thought issues of training. I am 48 and either train fullbody or upper lower split. I rarely train legs less than two days and the only time I have noticed recovery issues were when training with high volume. Even then, it was also as much about diet as it was the training, I was on a calorie deficit.
You can start with an easy 3 day split over two weeks Lower/Upper/Lower then Upper/lower/Upper. Over a two week period you will have trained every part three times, with a day or more in between each session. Recovery should not be an issue if you are eating and sleeping right.