The only recommended way to upgrade to bullseye is to download and flash a clean bullseye image, and transfer your data and applications across. But if you really want to try to upgrade an existing buster image to bullseye, this is a method we have found to work on a clean install of the last released buster image. This does of course not guarantee it will work on your image, which will have all sorts of subtle differences from the clean image as a result of changes made while you used it - but it works for us.
First - and I cannot stress this enough - use dd or the SD Card Copier application to MAKE A BACKUP OF YOUR CARD. There is a non-zero chance that this upgrade will trash your system and leave you with an unbootable card. So don't say we didn't warn you! (Did I mention that we do not recommend doing this...?)
Edit /etc/apt/sources.list, and replace every occurrence of the word "buster" with "bullseye".
Do the same for any .list files in /etc/apt/sources.list.d/
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sudo apt update
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sudo apt install libgcc-8-dev gcc-8-base
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sudo apt full-upgrade
When it completes, edit /boot/config.txt.
Comment out any lines which contain "dtoverlay=vc4-fkms-v3d" by putting a # sign at the start of the line.
At the bottom of the file, in the [all] section, add the line "dtoverlay=vc4-kms-v3d" - note that is "kms", not "fkms".
Now reboot and cross your fingers...
If your system comes back up, it should now be running bullseye. You will probably need to reset any custom display resolution you had before.
As above - we do not support this process; it may work for you, or it may not. If you get it to work, or if you have problems, feel free to use this thread to share your experiences to help each other. Good luck!