Yes! SRAM RED eTap HRD brake calipers are compatible with all eTap AXS brake lever assemblies. If replacing SRAM RED eTap HRD shift-brake levers from an 11-speed system, SRAM RED eTap AXS or Force eTap AXS HRD lever assemblies can be purchased and connected to your existing SRAM RED eTap HRD brake calipers.
For more a complete overview of caliper and lever compatibility, see the MTB and Road Hydraulic Disc Brake Lever and Caliper Compatibility chart.