Changing ESC from PWM to UAVCAN

Hello, I am currently using PWM ESCs from Hobbywing

I would like to try out the UAVCAN ESCs, such as Zubax Orel 20 or Holybro Kotleta20

and I have 2 questions.

  1. Do I have to use different motors because the ESC is changed from PWM to UAVCAN?

  2. What are the key differences between Zubax Orel 20 and Holybro Kotleta20? Are there any recommendations between the two?