API versioning

hey everyone, ive been wrestling with api versioning lately. it feels like every time we introduce a breaking change, we either have to force a migration on all clients (ouch!) or maintain multiple versions indefinitely, which quickly becomes a maintenance nightmare. im curious about how others approach this. are there strategies beyond simple url versioning (like v1, v2) that work well in practice? or have some of you found ways to design apis that minimize the need for versioning altogether? whats your experience?