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After downloading ...
~$ cd /tmp
/tmp$ tar xzf rt-kernel.tgz
/tmp$ cd boot
/tmp/boot$ sudo cp -rd * /boot/
/tmp/boot$ cd ../lib
/tmp/lib$ sudo cp -dr * /lib/
/tmp/lib$ cd ../overlays
/tmp/overlays$ sudo cp -d * /boot/overlays
/tmp/overlays$ cd ..
/tmp$ sudo cp -d bcm* /boot/
Edit /boot/config.txt
Add the following option:
kernel=kernel7_rt.img
Execute:
sudo SKIP_KERNEL=1 rpi-update
Also refer to:
https://lemariva.com/blog/2019/09/raspberry-pi-4b-preempt-rt-kernel-419y-performance-test
https://www.raspberrypi.org/documentation/linux/kernel/building.md