The best way is to rename them from inside LR. If you have a lot of folders, it's going to be tedious no matter how you do it.
If you do it from inside LR, it won't affect it at all. If you do it through your OS, you will need to 'find' the folders in LR. DO NOT re-import the files/folders. You will end up with duplicates in your catalog and orphans, in addition to needing to re-process the keepers and re-tagging them all.
Option 1: Rename in LR. Easy peasey, but tedious.
Option 2: Rename through your OS. Then in LR, right click on each folder and select "Find Missing Folder", and point LR to the new, correct location of the folder.
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