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Follow the steps 1 and 2 mentioned in Kafka upgrade to reach the state where all brokers are running with the latest binaries but with the earlier inter.broker.protocol and log.message.format versions.
After that, a rolling restart should be done by enabling "remote.log.storage.system.enable" as true on brokers so that they can have remote log subsystems up and running. After that, follow from step 3 to complete the upgrade process. 

Users can enable tier storage by setting “remote.log.storage.enable” to true on the desired topics.

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