Same major.minor version (WITH THE EXCEPTION OF ENDPOINTS SERVING AS A RELAY / ETC) should be “safe” (but not recommended) to be at a higher build.
So a 9.5.20.34 client will work with a 9.5.14.73 deployment. A 10.x client on a 9.5 deployment should not be considered “safe”. If you are doing more than a handful or so, then you really should be looking to upgrade your deployment first.