32 bit ARM assembly on a Pi 4B+?

Hi,
I have Stephen Smith's book on (32 bit) ARM assembly and have both a Pi 3B and a Pi 4B.
The Pi 4 has Kali 64 bit on it.
The Pi 3 has Raspberry Pi OS (32 bit) on it.

Do I need to follow Stephen Smith's book on the 3B running 32 bit OS or can I still do 32 bit ARM assembly on the Pi 4B running 64 bit Kali?
(e.g. can I run the code in some kind of emulation mode etc?)

Thanks.
