Yes, this is one of the possible combinations shown in the user guide here – https://www.allen-heath.com/content/uploads/2023/06/Qu-Mixer-Reference-Guide-AP9372_10.pdf#page=18&zoom=auto,-274,26
You will need to ensure you are running the latest firmware on the Qu, and that you have patched any outputs you need in the Setup > I/O Patch > dSnake Out screen.
Qu-You can then be setup to remotely control any mix you’re sending to an output socket on the AR2412 or AR84.