PWM signal level of 3.3V with 5V ESC

I’m completely new to Ardupilot/Ardurover.
I plan to create a skid steer rover and already have 2 brushed gear motors (with encoders) running at 24V. I plan to buy Pixhawk 2.1 Cube and the follwing ESC to drive them.
Now I read, that the PWM output of the Cube delivers only 3.3V signal level and are wondering if I can use the RoboClaw ESC which expects 5V PMW?

On the other side I see which shows that ESCs are connected to the Power Module?

Can anybody shed some light into how I would run 24V brushed motors using ESCs?