If you have a TrueNAS system, they offer support on those don't they? I'd recommend getting in touch with TrueNAS support.
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If not, just take a bootable USB-drive (this is how I did it), and when booting into TrueNAS, you have some options to in-place upgrade or fresh reinstall. I had to fresh reinstall because the ZFS version would've still been messed up otherwise.
Once in TrueNAS, I imported my last saved config, and it restarted with the correct configuration.
If you don't have a backup config, you'll have to use their tools to copy it off. Ideally, you'd install TrueNAS into another drive, copy off your config, and then you could overwrite the original boot-pool with a fresh install.