You may have to do some preparations first to ensure you have the latest supported software with the latest update. Refer to https://kcm.trellix.com/corporate/index?page=content&id=KB94079. There is a section for supported extensions by update version. CU15 is the latest one that you need to install. The extensions are the critical ones you will need to update, but that doesn't necessarily require you to have to upgrade client versions. Most all of the extensions are backward compatible to be able to manage lower client versions.
Second, you want to ensure you have all the proper backups (before and after you update extensions). Refer to https://kcm.trellix.com/corporate/index?page=content&id=KB66616
The later updates also have stricter tls requirements. So you might need to ensure your system is compliant with that. What you would do is download IISCrypto (free download), run it on your sql and epo servers, choose best practices, then reboot. KB91519 lists tls and cipher requirements for different update levels. Running IISCrypto helps with that. If any of your agent handlers are running on server 2012, please note one additional requirement to enable that is noted in the kb.
The release notes for the update has install instructions. Basically, you will install it on epo server first, then any agent handlers you have.
https://docs.trellix.com/bundle/trellix-epolicy-orchestrator-on-prem-5.10.0-release-notes/page/GUID-...
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