It ships with git, so without extra tools, it is the implied solution to OP’s question, and the default choice for many.
I’m not saying they recommend it, as the question drives a rhetorical point. But it’s worth mentioning “git filter-repo” as a solution you will not stumble into as easily as the more difficult, brittle and slow “git filter-branch”.
What I said in my one-sentence-reply is that there are no non-deprecated, built-in tools that helps with this task in a streamlined manner. Which means by extension that it is not a trivial task.
I’m not saying they recommend it, as the question drives a rhetorical point. But it’s worth mentioning “git filter-repo” as a solution you will not stumble into as easily as the more difficult, brittle and slow “git filter-branch”.