Very simply, you can only update an iPad to the most recent version of iOS/iPadOS that is supported by the device. Interim updates are not available.
All System Updates are digitally signed by Apple - and can only be installed whilst the digital signatures remain valid. After release of a new iOS/iPadOS version, the immediately preceding version continues to be digitally signed by Apple - however, usually within a few days, Apple will revoke the digital certificate with which the earlier version is signed.
System Software Updates are cumulative - and include all preceding feature and security updates.
Whether or not you are able to update your iPad to a newer version of iOS/iPadOS will be dictated by the iPad model - and the currently installed version of iOS. You can find this information here:
Settings > General > About
Not sure which iPad you have? Identify your iPad model.
Here is a list of the current highest version of iOS supported by the older models of iPad (for simplicity - “generations” are shortened to a number) that are restricted in their ability to be updated:
32-bit devices (obsolete)
iPad1 - iOS 5.1.1
iPad2, iPad3 and iPad mini1 - iOS 9.3.5 (WiFi Only models), iOS 9.3.6 (WiFi & Cellular)
iPad4 - iOS 10.3.3 (WiFi Only), iOS 10.3.4 (WiFi & Cellular)
64-bit devices
iPad Air1*, iPad mini2 and iPad mini3* - iOS 12.5.7
iPad Air2, iPad mini4 - iPadOS 15.8.2
iPad5, iPad Pro (9.7"/12.9" first generation) - iPadOS 16.7.8
(*) obsolete
Newer models are all able to be updated to the current version - iPadOS 17.5.1
- iPad Pro 13" (M4)
- iPad Pro 12.9" (2nd generation and later)
- iPad Pro 11" (1st generation and later + M4)
- iPad Pro 10.5"
- iPad Air (3rd generation and later + M2)
- iPad (6th generation and later)
- iPad mini (5th generation and later)