RE: Upgrade from NAV 2016 to Latest Business Central SaaS (like 21)
Yes, according to my experience, it is possible to migrate from NAV2016 to BC21 on-prem directly, and then use Cloud Migration tool. But remember, it takes a lot of time. We spent whole month to make a first migration, because we don't make this action never before. And yes, we've migrated whole history, all Ledger Entries (Item, Vendor, Customer, Job, G/L, Posted documents, whole data), even all Incoming Documents with attachments.
The hardest thing in this case was make a good SQL scripts with the field mapping. First, I've written a Powershell script to generate SQL migration files. Script gets a source (NAV2016) tables and one by one gets their columns. After that it looks for the new table with $ suffix, f.ex. dbo.Cronus$Item in NAV2016 and dbo.Cronus$Item$Base_Application_Guid and dbo.Cronus$Item$Some_Extension_Guid. If it found a destination table(s) it starts to try to map field using names. If the column with the same name wasn't found, there is a comment in generated SQL script, like [MAP ME MANUALLY]
Here is a little screenshoot for the inspiration