Best choice from 20.3 to 21.x?

On 20.3 now on old dual-core computer. It runs fine here and I upgraded to kernel 5.15 a while back, can't remember why but it works fine also. The main reason to upgrade to 21.x is some improvements in package updates/choices and I will need to run a printer in the future which I don't have now plus the LTS over 20.3 I think there are some improvements in 21 over 20 in add/device area. 2 questions, 1) can I upgrade to any .x of 21 from 20.3 and 2) if so, since 20.3 works well is there any real advantage of one 21.x version over another?

Thanks