Just use the official supported Raspberry Pi OS. On a running system of it you will find:
rpi ~$ ls -lh /boot/kernel*
-rwxr-xr-x 1 root root 5.6M Dec 9 21:15 /boot/kernel7.img
-rwxr-xr-x 1 root root 5.9M Dec 9 21:15 /boot/kernel7l.img
-rwxr-xr-x 1 root root 16M Dec 9 21:15 /boot/kernel8.img
-rwxr-xr-x 1 root root 5.3M Dec 9 21:15 /boot/kernel.img
These are all kernels needed to boot on every Raspberry Pi version. The boot loader will select the right kernel for the hardware that is started. At Boot options in config.txt you will find:
kernel is the alternative filename on the boot partition to use when loading the kernel. The default value on the Pi 1, Pi Zero, and Compute Module is kernel.img, and on the Pi 2, Pi 3, and Compute Module 3 it is kernel7.img. On the Pi4, it is kernel7l.img.
If set to non-zero, forces the kernel loading system to assume a 64-bit kernel, starts the processors up in 64-bit mode, and sets kernel8.img to be the kernel image loaded ...