Replacing one DM542T 2.3 with newer 4.0

I am building a robot I bought years ago and have noticed 1 DM542T driver has disappeared. Can I run one single newer DM542T 4.0 driver alongside the older ones I have? Thanks.

I have rewired the robot limit switches to accept a Teensy 4.1 as the old Teensy board (3.5) also went missing so I will be running the newer AR4 program (but with the older encoders).