Well, sort of ... except that kupa basically has to have the object marked, the person/people who are receiving something. You could say tu
wape matunda "We should give them fruit", for example, but tu--pe, without an object, is more likely to (or has to?) be interpreted as --tupe, without a subject (meaning that the subject must be u-).
I also really disagree with the "have to" interpretation this course uses for the subjunctive, but that's another point.