See this thread with similar question: Is it possible to upgrade from 7.6.4-ee to 7.8 directly?.
In short: you have to run the upgrade scripts for the database schema for every version (https://github.com/camunda/camunda-bpm-platform/tree/master/engine/src/main/resources/org/camunda/bpm/engine/db/upgrade), but there is no need to install all software versions.
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