Since Drupal8/9 works very much differently than Drupal7, the module structure has changed, the files type supported changed and Drupal API also changed. so with many modules which are available for download, you can find separate versions for Drupal7 and Drupal8/9.
But in the case of a custom module, you would like to upgrade your own module.

The Drupal Module Upgrader is a Drush command that helps you update your modules from Drupal 7 to Drupal 8.