I’m personally still using the Original V2 board.
From my limited knowledge of the 4.1 board I believe it has the PWM2 support so you should be good.
The only complication is the Cytron doesn’t expose the PWM2 as a pin on the edge so you have to use the 4 pin wire connector to connect the Cytron to the board instead of the 3 pin header connector.
This thread talks about it Motor testing with free wheel mode