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Direct upgrades from 4.0.x and older are no longer supported on 4.3. If you are still running one of those, either on servers or nodes, please first upgrade to one of the supported versions, and then upgrade to 4.3.
Migration from 4.1 or 4.2 are supported, so you can upgrade directly to 4.3.
Rudder agent 4.1.x and 4.2.x are fully compatible with Rudder server 4.3.x. It is therefore not strictly necessary to update your agents to 4.3.x.
These agents are not compatible with Rudder 4.3, and you have to upgrade them. Be careful to follow the upgrade path explained above.
Rudder uses syslog messages over UDP by default for reporting (since 3.1), but if you upgraded your server from a previous version, you will keep the previous setting which uses syslog messages over TCP.
You should consider switching to UDP (in Administration → Settings → Protocol), as it will prevent breaking your server in case of networking or load issues, or if you want to manage a lot of nodes. The only drawback is that you can lose reports in these situations. It does not affects the reliability of policy enforcement, but may only temporarily affects reporting on the server. Read perfomance notes about rsyslog for detailed information.