This was last updated in July 2015, but only goes as far as ALM 12.20.
The purpose of that article is versions of UFT compared to versions of other products (ALM, Sprinter, LoadRunner, etc.) It doesn't address compatibility between ALM and anything other than UFT.
It indicates only UFT 12.02 and newer are compatible with ALM 12.20, so I would make an educated guess that only versions newer than UFT 12.02 have any chance of possibly supporting ALM versions newer than ALM 12.20. The PAMs for those newer versions of UFT should include information about what versions of ALM are supported.
This page gives information about Sprinter, and which versions of it are compatible with which versions of ALM.
Also, this page provides Support Matrices for all products.
This page lists links for Support Matrices for versions of ALM
I was not able to access the data the links lead to.