Preferred approach on upgraing Magento Community 2.1 to 2.4

What’s your approach to upgrading Magento Community 2.1 to 2.4?

1. Incremental approach (2.1 to 2.2 to 2.3 to 2.4)
2. Direct upgrade to 2.4

As this involves infrastructural upgrades and module/package addition/upgrades, what’s your take on approach and why?