Sorry, no, this is not possible.
You will not be able to setup or use Recovery Contact, Account Recovery or use other Advanced Data Protection features while a pre-iOS/iPadOS15 device is signed-in to your AppleID account.
If these features are required with your other compatible devices - for your pre-iOS/iPadOS15 devices you will need to turn-off Find My iPad (or Find My iPhone) so as to disable the related Activation Lock - and then sign-out from your AppleID account on these devices.
Settings > [Your Name / AppleID] >
- Find My > Find My iPad | iPhone - set to OFF
- Sign Out
After signing-out, you can continue to use the older devices - but to do so you’ll need to setup and use an additional/separate AppleID with them. You might then consider using Family Sharing - allowing you to selectively share purchased Apps, subscriptions and Apple services with the new AppleID:
Family Sharing - Apple
Set up Family Sharing – Apple Support
Share App Store, iTunes Store and Apple Books purchases with Family Sharing – Apple Support
How to create a new Apple ID – Apple Support
https://www.imore.com/how-set-up-family-sharing-iphone-ipad