As per the document it is compatible with 7.2.2 version, provided some integration rules which are helpful for easy integration. if MuleSoft is simple rest service you can consume the service by Connect-Rest rule in the current version.
The MuleSoft Connector is designed to allow MuleSoft integration flows to add Pega API resources. For Pega to call a MuleSoft resource, you can use the REST wizard and connector capabilities. There is no generic way to call MuleSoft, as it is the tool that integration developers use to build and manage RESTful API's for their business needs.
The only other configuration needed is a valid operator record in Designer Studio for the auth credentials used for accessing the Pega API. The operator access group used for authentication must have the PegaRULES:PegaAPI role. The auth credentials can be passed in via Basic Authentication, or for more secure communication, the Pega API can be configured to use OAuth 2.0 authentication. Details for OAuth 2.0 configuration can be found on the PDN here: