Hi,
Thank you for coming Microsoft Q&A forum.
SCCM is compatible with older client agent version, all of the very core communication and policy processes work the same, but there are some new features that you cannot use because it requires the clients agent to be upgraded to the latest version, so it's recommend to upgrade clients agent to the latest version. Is there any reason that do not upgrade the client agent version?
You may try to configure the automatic client upgrade:
https://learn.microsoft.com/en-us/mem/configmgr/core/clients/manage/upgrade/upgrade-clients-for-windows-computers#bkmk_configure
Regards,
Allen