Hi Charle,
Your speaker should be compatible to connect via wifi on eero.
I am on a eero mesh system as well and while i am currently connected via Wifi, I have had intermittent speaker cutting out issues since the updated App in May. I’m still trying to identify if it is my network & possible interference or the Sonos app. I have had one speaker wired to the main gateway eero with an ethernet cable as well as tried a total wireless setup. Both giving me the same issue with speakers cutting out from time to time.
This is the EERO link to assist in Sonos setup:
https://support.eero.com/hc/en-us/articles/18393441260315-How-do-I-setup-my-Sonos-Speakers-on-my-eero-Network-Basic-Setup
Sonos link:
https://support.sonos.com/en-us/article/recommended-eero-network-configuration-for-sonos