PHP has gone through a few changes.
PHP 3->4 was a moderately big change under the hood, and introduced a lot of new things, but most 3 'worked' under 4 (but was... awkward).
PHP 4->5 - a few 'big' things changed - XML processing changed - I had to use some shims to get some projects upgraded.
PHP 5->7 - my recollection, and that of most colleagues, is that this was pretty painless for most projects. I can't recall too many major breaking changes, but it was mostly just getting a doubling of speed without any substantive changes.
The PHP community has a couple decades of 'major version changes' to look at to learn from. I still can't say I agree with 100% of the decisions, but it's still progressing nicely.