Any SbC with OTG support should work, so both Zero W and Zero 2 W should be compatible (I tested it with RPi Zero 2 W—I will update the docs).

https://www.raspberrypi.com/products/raspberry-pi-zero-2-w/ https://www.raspberrypi.com/products/raspberry-pi-zero-w/

I can't find definitive information for RPi 4 though, I see some references to using it online but the spec here does not seem to mention USB host or OTG

https://www.raspberrypi.com/products/raspberry-pi-4-model-b/...