I wanted to check so I beat all levels up to Donut Plains 2. I was able to clear both the secret exit and the regular exit with no issues. I'm on 20.3 firmware. and 1.9.3 AMS.
if I recall correctly, the main Switch must own Namco Museum while the rest must download the Pacman Vs. free version.
Pacman Vs. doesn't have online multiplayer so it's alright.