"Current releases of the dump programs can read data from any server version back to 9.2."
The major flaw in Section 19.6 is that it repeatedly says "use pg_dumpall", and only mentions pg_dump once. Don't use pg_dumpall; use pg_dump in "directory mode" with multiple threads. ("pg_dumpall --globals" is critical for roles and whatnot.)
This is how I recently migrated three multi-TB PG 9.6 RHEL6 servers to PG 14 on RHEL8.