How to migrate from Zitadel 3 to Zitadel 4?

🏬Self-hosted❓Question❌Unsolved

I am self-hosting Zitadel 3.4.9 with Docker Compose with the built-in login UI. How do I migrate to the latest 4.x (currently 4.13.1) such that I can keep most of the current configuration and behavior? Can I directly upgrade to the latest version? Do I need to add some environment variables since I don't have the self-hosted login UI?