Designing APIs: How to Handle Versioning Without Just Changing the URL

dont you hate dealing with API versions, it's such a pain. URL versioning, like /v1/users and then /v2/users, is what everyone does, right? But have you actually tried using custom headers or maybe those Accept headers? What's worked for you, and what's just a mess, compared to the easy URL prefixes, especially when things get complicated or you need to change stuff later on?