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You can simply upgrade any ship component by using the "view" button (Eye icon) and setting it to view only "Iron" and "Engine". Now all parts except the Iron Engines will be ghosted and unselectable. Now choose the item you would like to replace it with, for example Titanium Engines, then while holding down "ALT" you can left-click to replace the block under your cursor with the currently selected replacement. Note that you can also easily change the Engines with Cargo bays or any other type, not that it would be useful to do so, but so that you understand the replacement freedom.
On some ships the designers have included "framework" blocks for the specific purpose of later upgrades.