If it were me, I'd install v20.04, v21.03, v23, v24, v26, v27, v28, v29, v30 in that order.
v20.04 will bypass all compatibility issues with PLC's running v20
v21.03 will not bypass the compatibility issues in PLC's running v21, but by now everyone should have updated their software and PLC's to v21.03, so you've got a better chance with that than v21.01
v23 and upward have no known compatibility issues (at least, of the type previously discussed)
You *can* install the software packages in any order up until you hit v30 - but yes, good practice to install them from oldest to newest.