iOS and Android native app automation on multiple devices in parallel

I have a native app for iOS and Android. I have automated both apps test cases using Appium and Java/Python. I have been executing automation on only one of the Android and iOS devices by running the Appium server from Appium Desktop. Everything good so far.
Now I am planning to run the same automation suit on multiple devices(latest OS, the previous OS, and past OS) on Android and iOS. Can anyone help or guide me to do this?

Can we launch multiple sessions under one Appium server instance and do parallel execution?
Do we have to start multiple server instances on different ports to do parallel execution?
Do we need Selenium grid help here or Appium alone itself helps us to do parallel execution?

Any kind of help is appreciated. This is much needed to implement for me. Pls, help/guide.

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