Yes, as long as the same namespace is used, you can do that
All Client Access servers that share the same namespaces and URLs need to use the same alternate service account credentials. In general, it's sufficient to have a single account for a forest for each version of Exchange. alternate service account credential or ASA credential
applies to 2013/2016/19 as well
The reason you cant do that in 2010 was the CAS Array issues and the requirement for sep name spaces.