AlwaysOn AG - 2 nodes - automatic fail-over

Hello:

I am trying to setup an AOAG for a SharePoint 2019 farm using 2 SQL servers/instances.  I have always setup SQL server fail-over clustering using Shared disk but I want to leverage AOAG.  I have a couple of questions around this as while I'm reading the guides.

1. Can I achieve AOAG using only 2 nodes with automatic fail-over? 
2. Does my listener have to be on the same subnet as my SQL servers?

If there is a step-by-step guide that can be shared to achieve AOAG with auto fail-over, I would appreciate it.

Thank you,

Rumi