I thought the industry solved this by bundling breaking changes in major version updates.

V 1.0 - foo introduced

V 1.1 - foo deprecated, recommend bar

V 2.0 - foo removed, only bar

Users can stay on 1.x indefinitely, even if it never receives updates. Development continues on 2.x, eventually 3.x and so on. Users only experience breaking changes when they manually do a major version upgrade.