You can adopt KMP as gradually as you like, your KMP module can be exposed to iOS as a pods dependency (or you can compile it directly in a build phase) which you can call from your existing iOS app, as for android, you can include the shared module in your app just as you would any other module.
If you do choose to adopt kmp, I'd recommend using SKIE, it's a gradle plugin that helps bridge the kotlin-swift gap, as kmp by default generates to obj-c code, so some of the niceties you've come to expect such as default parameters in function calls would otherwise be missing
https://skie.touchlab.co/