v1706 (seven years old) could work, but needs some compatibility modifications. In previous releases (see v1.2.0, for preCICE v2), we released one code for all ESI versions after v1812, but the versions before (as well as each Foundation version) requires modifications, which are often large-scale.
We are currently discussing how to proceed with supporting multiple versions in Policy on support for OpenFOAM.org and other versions · Issue #328 · precice/openfoam-adapter · GitHub
The best long-term solution would be that you eventually upgrade your codebase to a newer version. It is difficult, I know, but supporting old versions is extremely complicated and resource-demanding for us as well (and generally for developers of various software projects).