PowerRename has worked fine for me, can also recommend it.
However, when there's directories and many, many files involved, I just use Python with pathlib. It's a couple lines of code anyone can learn to do, with all the flexibility of Python. PowerShell would maybe also be suitable.
[0] https://docs.microsoft.com/en-us/windows/powertoys/powerrena...
[1] https://github.com/microsoft/PowerToys