SZ100 can run multiple firmware versions starting 3.5 and above, so this won't work in your migration scenario.
ZF7363 is supported only till 18.104.22.168.536. This End-of-Life product is not supported on 3.2 and above.
So, this means you can run your controller on 22.214.171.124.536 and manage ZF7363 and R500 at the same. However, R510 is not supported on 3.1. R510 can only be managed on controller running 3.4 and above.
Hope this helps you organize your migration.