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I couldn't find it by googling. Are all usual R packages from CRAN also available in R on Rasbian on Raspberry Pi? What is the current supported R version on Pi 4?

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At the default Raspberry Pi OS repository you will find for the r-* packages:

rpi ~$ apt-cache pkgnames 'r-' | wc --lines
764

From this 764 packages just install what you need. You will find the version in the package description for example in r-recommended:

rpi ~$ apt-cache show 'r-recommended' | grep '^Version:'
Version: 3.5.2-1

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