I don't have an RPi4, but I can confirm that at least one USB 3.0 HDD can be connected directly to the USB 2.0 port of an RPi3 (and also an RPi2 when I did a brief test). I've also had a keyboard, MCE remote control, and a USB flash drive all connected at the same time as the USB 3.0 HDD and all worked flawlessly.
With the larger power supply for an RPi4, it might be possible to connect two HDDs directly to the USB ports.
If you seek more details on how I used a USB 3.0 HDD with an RPi3, then see Build a Cheap PVR using Raspberry Pi 3, LibreELEC, Kodi, Tvheadend, & HDHomeRun.