Problems with TACACS - Do i need to be on version 4?

Hello I'm trying to set up a TACACS virtual server. I used the tacacs config file from here https://freeradius.org/documentation/freeradius-server/4.0.0/raddb/sites-ava... but when i try to start the server i get this: "/etc/freeradius/sites-enabled/tacacs[21]: Invalid type "Authentication-Start" in listen section." I'm on version 3.2.3 using Ubuntu 20.04. Do i need to be on version 4 for TACACS? Thanks Phill