SolarWinds SAM is compatible with PowerShell 2.0 or later, including v. 4.0. (You need at least PowerShell 2.0 to support remote execution.) I recently added an article to the SolarWinds Success Center that describes how to set up target servers for use with PowerShell. See Microsoft Office 365 template requirements and scroll down to the "Configure target servers" section. Article feedback is always welcome!
Also, please note that PowerShell requires .NET Framework 3.5.x. but SAM 6.5 — 6.6.1 use .NET Framework 4.6.2. You can use Server Manager's Add Roles and Features wizard to add .NET Framework 3.5, if necessary. If you encounter issues, see this Microsoft KB article.