The capability is identified by a
uniform resource identifier (URI) [RFC3986].
refer https://tools.ietf.org/html/rfc6241#:~:text=A%20NETCONF%20capability%20is%20a,the%20content%20allowed%20inside%20operations.
Also refer: https://www.cisco.com/c/en/us/td/docs/ios-xml/ios/prog/configuration/171/b_171_programmability_cg/configuring_yang_datamodel.html#id_78218
I tested on a isr4k using following command:
ssh -s admin@<ipaddress> -p 830 netconf
<?xml version="1.0" encoding="UTF-8"?>
<hello xmlns="urn:ietf:params:xml:ns:netconf:base:1.0">
<capabilities>
<capability>urn:ietf:params:netconf:base:1.0</capability>
<capability>urn:ietf:params:netconf:base:1.1</capability>
<capability>urn:ietf:params:netconf:capability:writable-running:1.0</capability>
<capability>urn:ietf:params:netconf:capability:rollback-on-error:1.0</capability>
<capability>urn:ietf:params:netconf:capability:validate:1.0</capability>
<capability>urn:ietf:params:netconf:capability:validate:1.1</capability>
<capability>urn:ietf:params:netconf:capability:xpath:1.0</capability>
It returns the capability list similar to above. It doesn't really work on older releases so you are right, it would be IOS-XE version dependent. You can check the release notes to find out where the support started.
On ISR4k, it would be supported from release 16.9.1 onwards as I can check.