To expand what @theophile said:
It is even not only version depended - it is also feature dependend.
If klipper is not using a feature that got a mcu protocol change since it got flashed it will not error out.
As an example let use your version
If you configure a resonance tester sensor on you mainboard mcu klipper would error out since around v0.12.0-75 the resonance sensors part of the mcu protocol got changes. As soon as you comment out your sensor in your printer.cfg it will no longer error out since the feature is no longer used.
Of course you should update your mcu in case you get a protocol mismatch error and not commenting out the feature ^^
Also it is good to subscribe to the Announcements channel since every major update gets posted there and also specifi stuff like this example: