Short answer, except for Q2, is NO! There were many breaking changes along the way.
Apart from differences between version family 3 and 4, there have been many changes in the last few years, so much so that versions increase by 1 each year since 5.0
You need to catch up with lots of changes, but have to do it gradually if you want to migrate without no data loss. Get ready as you may lose indexes in the process.
But, it all depends on what aspects you were/are using in 3.2. If your data is entangled too deep to the features from that version, upgrading will be as painful. You may find the exact path in the documentations for each version and forum posts here as Fabio stated.
Just be warned though, you need lots of disk space as the process will need many backups.
For the Q2: We have a most basic 3-node cluster structure commonly referred to as PSS, which stand for Primary-Secondary-Secondary. Start with this link: Replication - MongoDB Manual v7.0