This post is relevant.
The pixhawk (autopilot/control board) is capable of it, but ArduSub (the firmware bluerobotics uses for their ROVs) “has no concept of RC receivers.” You’d likely want to use ArduBoat/ArduRover, which are set up for radio input, but from a brief look at the github issue linked to in that post, it seems like vectored motors aren’t yet supported there, so it won’t be plug-in simple, but it might not be too crazy for you to add the relevant ArduBoat firmware modifications if you use ArduSub’s vectored thruster code as a reference.