Does R2021a support the Unreal Engine simulation environment?

Hello everyone,
I want to ask about the limitations of the Unreal Engine simulation environment,
I remember that version R2020b supports Unreal Engine 4.23.
Can the current version R2021a support Unreal Engine (including custom scenes into Executable)?
Because I want to use custom scenes in the simulation and some toolboxes released in the R2021a version.
Best regards.

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R2021a

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