System extensions are a category of software that works in the background to extend the functionality of your Mac. Some apps install kernel extensions, which are a kind of system extension that work using older methods that aren't as secure or reliable as modern alternatives. Your Mac identifies these as legacy system extensions.
In 2019, Apple informed developers that macOS Catalina will be the last macOS to fully support legacy system extensions, and we've been working with developers to transition their software. By moving beyond these extensions, developers are helping to further modernise the Mac, improve its security and reliability, and enable more user-friendly software distribution methods. A final transition date has not been set yet.
Until the transition is complete, your Mac displays a message when a legacy system extension first loads, and again periodically while the extension remains in use. This gives you advance notice that existing software on your system loaded a system extension that will be incompatible with a future version of macOS:
Legacy system extensions and the apps that rely on them continue to work today. But now is a good time to contact the developer to learn whether an updated version of their software is available or planned. The developer can also explain how to remove or disable the extension, and the consequences of doing so.
Technical details for developers are available in Deprecated Kernel Extensions and System Extension Alternatives.