In short: No.
Looking at the @sitecore-jss/sitecore-jss-vue package on npmjs.com (https://www.npmjs.com/package/@sitecore-jss/sitecore-jss-vue) reveals that from version 19 onwards it supported VueJS 3 and above.
This table, https://support.sitecore.com/kb?id=kb_article_view&sysparm_article=KB1000576 indicates that Sitecore 10.2 or later is required for sitecore-jss-vue version 19.
So for:
| VueJS | Sitecore | JSS |
|---|---|---|
| 2.x | <= 10.1 | <= 18 |
| 3.x | >= 10.2 | >= 19 |
If you're not using JSS/Headless architecture, but are using Vue JS then you would not have any Sitecore dependencies preventing you from upgrading.