Hello,
Please go through below article that will answer most of your questions.
Planning Your Upgrade | Adobe Experience Manager
Another good article suggesting steps is
How To Upgrade AEM 6.5 Safely! – TA Digital Labs
Generally the steps are (high level):
1. decide the approach In-place or fresh
2. Run the pattern detector & analyze the report
3. upgrade uber jar version , resolve dependencies
4. remove deprecated code
5. finally migrate the content using Crx2Oak tool