api versioning strategy, how do you keep it clean

Hey everyone, I've been thinking a lot about API versioning lately. Some of our internal APIs are getting pretty big, and keeping track of the different versions is becoming a real pain. We've tried versioning in the URL, like /v1/users and /v2/users, and also using query parameters, but honestly, both methods feel kind of awkward. Are there other ways to do this? How do you guys make sure older versions still work without turning into a total maintenance mess? What are your favorite ways to keep API versioning tidy and easy to handle over time?