Can I control a Big Sur device with Apple Remote Desktop?

Both devices are x86 devices and both are fully up to date. But I am unable to control/observe the Big Sur device from the Catalina device.

Other devices in my network, can be controlled fine with my ARD on macOS Catalina, it is just this Big Sur device that doesn't work. Both are at ARD 3.9.8,

I've tried everything I can think of, but so far no luck.