Vault upgrade from 1.9.4 to latest LTS version

I am planning to upgrade from 1.9.4 to latest 1.19.X LTS. please let me know if i can directly upgrade it to 1.19.x or there will be step migration.

we are on cent7 and want to migrate vault to rocky9.7.

Vault is HA cluster using Consul as shared storage

consul cluster is 3‑node Consul server + client agents architecture