Moved to ePO for better support
Stated in supported products in the installation guide: https://kc.mcafee.com/corporate/index?page=content&id=KB82836
Drive Encryption 7.1 EEPC 184.108.40.2069 Drive Encryption : PC Software 7.1 EEADMIN 220.127.116.119 Drive Encryption : Admin 7.1 EEDeep 18.104.22.1689 Endpoint Encryption : Out of Band 7.1 EEGO 22.214.171.1249 Endpoint Encryption : Go 7.1 UserDirectory 126.96.36.199 User Directory
As jmcleish says, check the supported products guide.
But also if you run the Upgrade Compatibility Tool (can be found in the ePO install) you will be given a list of the extensions which are supported or not. It will also tell you if you need to upgrade any extensions before you can upgrade ePO.
My ePO 5.3.1 is managing my old 7.0.1 clients without issue. However I did upgrade the management extensions when i upgraded to 7.1.3 and have been slowly rolling this out on new builds.
so yes, but you probably want to update the extensions regardless.