We have provided a [sample recording rule set that translates old metrics to new ones] and the [one that translates new metrics format to old one] to create duplicate metrics (it translates "old" metrics format to new one). This has a minor disadvantage that it creates a lot of extra data, and re-aligns the timestamps of the data.
It's possible to run both the old and new exporter on different ports, and include an additional scrape job in Prometheus. It's recommended to enable only the collectors that have name changes that you care about.
[naming best practices]: https://prometheus.io/docs/practices/naming/