Am I able to upgrade my system from 10.10 to higher?

Back up your data, check your applications for compatibility, and depending on which MacBook model you have, download El Capitan, High Sierra, Catalina, or Big Sur. None of them have Yosemite as their maximum OS.

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It depends on the model and year of your Mac.

If you go to Apple > About this Mac > System Report, what does it say under Model Identifier?