If I remember correctly the GLD can configure the Monitor port on the AR unit to feed the Aviom system directly, the Qu can’t. Not sure if this could be fixed by software in some future firmware release. So you probably have to go analog from the mix outputs.
And, yes, you can route any Mix/Group/Matrix to the remote output sockets, but not inputs directly.
The local channel TRS connectors are inputs not inserts (which would require an additional DACs per channel and switching the analog socket configuration from symmetrical IN to SEND+RETURN).