CLEAR and any other Caravel chip have the same Caravel RISC-V SoC, so generally-speaking they can both run the same firmware. Just note that any given firmware might be designed to target a specific circuit/project within the user project area of the custom silicon die space of Caravel... in which case it doesn't make sense for that firmware to be run on a different chip that doesn't have that same design in silicon. Firmware that should work universally is any that (for example) ONLY configures the GPIO pins and controls them directly without trying to interface with the custom design area of the chip. Peripherals such as the 38 GPIO pins, the on-chip UART, SPI Controller, timer, single Caravel-controlled 'gpio' pin, and DLL/PLL should all be accessible in this way on any Caravel chip.