Can I use AOT compilation with Ivy?

Yes, it is a recommended configuration. Also, AOT compilation with Ivy is faster. So you need set the default build options(with in angular.json) for your project to always use AOT compilation.

{
"projects": {
"my-project": {
"architect": {
"build": {
"options": {
...
"aot": true,
}
}
}
}
}
}