Short answer: all 24 Tirthankaras teach the same fundamental path to liberation, but each one teaches in the context of his time and audience. The core principles stay the same, with small differences in emphasis, legends, and some details.

What stays the same

• The path to liberation: right faith (samyak saṃkalpa), right knowledge (samyak jñāna), and right conduct (samyak cāritra).
• Key virtues: ahimsa (non-violence), satya (truth), asteya (non-stealing), brahmacharya (celibacy or controlled conduct), and aparigraha (non-possessiveness). These form the ethical foundation for all Tirthankaras.

What can differ

• Emphasis and examples: Each Tirthankara teaches through parables, stories, and situations appropriate to his era, highlighting aspects most helpful for that time.
• Specific vows (historical notes): Earlier Tirthankaras are described as teaching a slightly different set or emphasis of vows in some traditional accounts. For example, Parshvanatha is often linked with the Four restraints, while Mahavira is associated with the Five great vows. In the later Jain tradition, Mahavira’s five vows became the standard, but both Digambar and Śvetāmbara communities acknowledge the same essential path. The exact phrasing and emphasis can vary by tradition.
• Legends and biographical details: The biographies and certain details (like interactions with rulers, miracles, or whether they married) differ in Digambara and Śvetāmbara narrations. The overall spiritual message—seeking liberation through disciplined conduct—remains central.

How to read it in practice

• Each Tirthankara points to the universal method to cross the sea of samsara, but with different examples and stories to illustrate the same dharma.
• The differences are mainly in tradition-specific details, not in the fundamental goal or method.

You can read more about Tirthankaras here