Yes. The JUnit4 runtime (Test Runner) isn't compatible. If you don't switch your tests to using Junit Jupiter, you'll receive "test events not received" when telling a test class to execute.

Another wrinkle is to realize that Roboelectric doesn't work with Jupiter. For those tests, you'll still need to use the JUnit 4 @Test and have Jupiter's vintage test runner in your dependencies: How to run a Junit5 test with Android dependencies and robolectric
Summary of gradle build changes:
android {
testOptions {
execution 'ANDROIDX_TEST_ORCHESTRATOR'
unitTests.all {
useJUnitPlatform() // <--- this is the important part
}
}
And for dependencies:
dependencies {
testImplementation 'org.junit.jupiter:junit-jupiter-engine:5.7.1'
//testImplementation 'junit:junit:4.+' // should get rid of this old JUnit.
testImplementation 'org.junit.vintage:junit-vintage-engine' //Let's Jupiter do the right thing when encountering a @RunWith(RobolectricTestRunner::class)
}