Hi
To update Windows 10 IoT Enterprise 2019 LTSC to Windows 10 Enterprise IoT 2021 LTSC it's a paid upgrade sadly.
You need to contact your terminal manufacturer, as it's them that can sell you the upgrade. The way it work it's the OEM that will allow your BIOS key of Windows 10 for the new version when it's sold.
If you got the license via an agreement to build your terminal then it mean you have sadly to repurchase the new version with new keys. I don't know if the revendor can give a rebate in such case.
Please check too for the XBox feature if it need the Windows Store's feature as it's a feature removed from LTSC version. If so I'am not sure the 2021 upgrade would work as it got the same limitation.
In example if it's HP terminal, you can use the HP update manager to get the newer 2021 ISO, it's just you wont be able to activate as said your key won't be allowed to use it, but it might give you time to test the feature you want.
In all case I suggest to test to be sure it would work on the new version.
To state it, the update the process is a reinstall over.