I had played Classic in 2019 and then TBC in 2021.
But I haven’t played it in awhile. So do I need to install “Catacylsm” in order to access these characters now?
you sure do
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Yes, characters on a progression realm will continue to move through the various expansions are they are released. So those that did not opt to stay on Classic Era, would have moved to Burning Crusade then from Burning Crusade to Wrath of the Lich King, and now to Cataclysm.
You should be able to uninstall the Burning Crusade client if you still have it and install the Cataclysm one. 
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