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Unfortunately, no. Aurora manages all the nodes at the cluster level and data replication synchronously across Availability zones, hence it does not provide an option to choose upgrading specific nodes separately. The application will have to be stopped, and once the cluster is entirely upgraded, you can resume the application.
The document link, https://docs.aws.amazon.com/AmazonRDS/latest/AuroraUserGuide/USER_UpgradeDBInstance.PostgreSQL.html, does not mention anything about upgrading read replicas? Is there any other documentation somewhere that discusses this? Or does it happen automagically (sic) when the Writer gets upgraded?
To safely upgrade the DB instances that make up your cluster, Aurora PostgreSQL uses the pg_upgrade utility. After the writer upgrade completes, each reader instance experiences a brief outage while it's upgraded to the new major version. To learn more about this PostgreSQL utility, see pg_upgrade in the PostgreSQL documentation. You can upgrade your Aurora PostgreSQL DB cluster to a new version by using the AWS Management Console, the AWS CLI, or the RDS API.
Does it mean the Reader gets upgraded automatically too in the process without any other additional steps? It is just saying it uses pg_upgade in the background to do so?
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