aATP Product Substitution using Substitution Groups and Substitution Controls

We are on SAP S4 2020 (On-Premise) and we also have aATP. We plan to move to 2021 soon. One of the key capability that we are looking at is Product Substitution capability within aATP.

However, it is not clear from the existing documentation whether Substitution Group and Substitution Control features are available with this version (2021 On Premise) and if they work along with Product Substitution capability with aATP.

Can someone from the community confirm?