Hello Michael,
If u want to get to that version via a zero-downtime failover then you will need to proceed with the path you have shown (
8.6(1)10) and then go to 9.0(1), From there move to 9.0(2) to 9.1.
Long walk right
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Julio Carvajal Segura
Julio Carvajal
Senior Network Security and Core Specialist
CCIE #42930, 2xCCNP, JNCIP-SEC