Redirecting old posts to new ones

Hello. I am no longer using canonical URLs and started from scratch using the normal url for my WP installation… but google has my old canonical URL already archived… i am going to repost with the same titles… is there a way to redirect the old posts with canonical URLs to new posts with new URLs and same titles?

Example:

Old: https://www.domainname.com/cms/category/title-post.html
New: https://www.domainname.com/category/title-post.html