Yep - agents don't really know about "CSA versions" ... CSA versions are primarily to patch the CSA itself, and occasionally deal with defects.
They're not about "you must be version X in order to support clients with version Y". You're on actively supported client versions, which helps too (I might revise my statement a little if you were still on - say - version 9.0 clients from ... err ... 8-ish years ago?).
Hope that helps?
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Yes, they will.