getting message about legacy System Extension which will be incompatible with future upgrades, recommending to call apple support

About legacy system extensions - Apple Support.

You will only need to address the issue once you upgrade to Catalina which no longer supports 32-bit software. What you are getting is an informational warning. There is nothing wrong with your system.

Welcome, Victoria nourian, to Apple Support Communities!

Other than the fact that Catalina doesn’t run 32-bit software, as Kappy pointed out, you can even continue running these legacy System Extensions in Catalina, so long as they are 64-bit.

Unless something has changed, it is Big Sur that is expected to no longer run such legacy System Extensions.