After 5 years, changing link structure?

An expert of sorts suggested I really needed to change the permalink structure from example – “https://lynnhappens.com/?p=9642” to one that includes post titles. I come up in searches pretty easily, anyway, but I’m wondering, will it be that much better if I do?

The only thing really holding me back is a fear that it’ll mess up a bunch of old links and break links on sites that link to mine. I don’t want that to happen. I could in no way manually single out all of those instances, so it would have to redirect automatically – both new and old urls would have to work, or it’s a no-go for this change.

Thanks