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

[jeff cearniey]

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-available/tacacs.html

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