Does changing routing url in rails using translated paths affect google search results?

Question

After doing research, I've learned that having 'underscore' in your url path can affect google search results, from this google recommended URL structure:

Google recommended URL structure

I initially have this route :

https://example.com/store_posts/my-first-store

the store_posts route have an underscore, so I first thought to rename everything including the Module and Controller, but that was tedious, so I thought of using Rails translated paths :

Rails Guide for routing, Section 4.7 Translating Paths

my question is, does using the method of translated paths will now fix the problem of google search and actually make the 'underscore' have no effects anymore?

Or also, will the old url still show up instead of the new one?