Hey Grandpa, I'm pretty sure your machine will do FMQ. I have a lower in model Brother (XL2600) and can do it on small projects.
There should be a plate to cover you feed dogs. If the little plastic plate has been lost, you can cover them with an index card with a hole made for the needle. A darning foot is the only other thing you need and you are off to FMQ.
I'm bad at it, but getting better. I have to do small projects because I just can't get a bigger project to move right.