It's never been supported to sync between different versions, either numerically or CE vs Plus (formerly Factory). It may work by coincidence, but it's always been a gamble.
We (And FreeBSD) try hard to ensure that pfsync does not break between versions, so that isn't usually a concern. CARP is unlikely to break unless something major changes in the base OS between versions but that is also unlikely.
XMLRPC / Configuration sync is more prone to be incompatible. Primarily because of Plus vs CE releases happening at different times. They may end up on different configuration revisions and there isn't a way around that. See https://docs.netgate.com/pfsense/en/latest/releases/versions.html and look at the "Config Rev" column. So long as that matches between two HA nodes, they can do config sync.
Soon we'll have a way to run Plus on non-Netgate hardware and VMs, but it's still being worked on.
tl;dr: The type and version must always match between HA nodes, same as always.