Its supported with that model range with OS10:
https://support.roku.com/article/360057488733
The Roku devices listed below must be running Roku OS 10.0 or higher to support Apple HomeKit and streaming with AirPlay 2.
Device Model
Roku TV | Dxxxx, 8xxxx |
Roku Streaming Stick | 3600, 3800, 3801 |
Roku Express | 3900, 3930, 3801 |
Roku Express+ | 3910, 3931 |
Roku HD | 3932 |
Roku 2 | 4205, 4210 |
Roku 3 | 4200, 4201, 4230 |
If its there, its usable.