How can I migrate aws postgres 9.5 to postgres 12.7? - postgresql

I am using Amazon Web Services RDS Postgres 9.5.
It is quite old and I want to know how should I upgrade to Postgres 12.7 ?
Is there a way to back it up in Postgres 9.5 and restore it to Postgres 12.7 ?
(Can this be done within AWS itself ?)
Thanks.

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