VESC for robot running on Jetson NX, ROS and Neo BLDC motor

I am new to VESC, but have used several other CAN bus ESCs in the past.  Pardon me if I ask newbe questions.

I am trying to improve on a FIRST Robotics system that uses the REVrobotics NEO motor https://www.revrobotics.com/rev-21-1650/ and would have used their SPARK ESC but FIRST requires a proprietary heartbeat in the ESC for safety reasons.  I am using ROS for the OS and dont have heartbeat capability.

1) Will the VESC work with the NEO motor on the chassis?  (I assume it will). 

2) What version of hardware should I purchase and from where?  Only need 40A contiunuous, so V6.x sounds excessive.

3) Has anyone use VESC with ROS running on the NVIDIA Jetson TX2 or NX?  Any issue using the CAN bus built into the Jetson processors? 

4) Any issue running four independent motors in closed loop velocity mode - will VESC use the hall effect sensor output of the NEO?

Thanks,

Gene