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,
          }
        }
      }
    }
  }
}