Using Cosmovisor streamlines upgrade preparation. Just build new binaries and move them to the Cosmovisor upgrades directory.
Download a specific upgrade binary file
rm -rf xion
git clone https://github.com/burnt-labs/xion
git checkout v0.3.4
Build new binaries
Get the binaries ready for Cosmovisor upgrades
mv build/xiond $HOME/.xiond/cosmovisor/genesis/bin/
rm -rf build
That's all! Cosmovisor will take care of the upgrade automatically once the specified block height is reached.