In the realm of Sobolev spaces, if $k>\frac{\dim(F)}2$, for the composition mapping $H^{k+l}(F,\mathbb R) \times H^k(F,F) \to H^k(F,\mathbb R)$, left translations are $C^l$ and right translations are smooth; i.e., composition is $C^l$ in the right hand side variable, and is smooth in the left hand side variable. This is folklore; for a detailed recent proof see
- H. Inci,T. Kappeler and P. Topalov, On the Regularity of the Composition of Diffeomorphisms, Memoirs of the American Mathematical Society, vol. 226 (American Mathematical Society, 2013).
In your case we have a left translation, but you are not above the Sobolev threshold with $v$, in general.