Upload Images to Different Directories

Hello everyone, I’ve recently change the structure of my blog and would love to be able to upload pics to different folders. I have tried the “Custom Upload Dir” plugin and it works well. The bad thing is the plugin has not been updated for years and does not support many features I need. I want to store pics in different folders according to post. For instance: all the images I uploaded to one of my post “hello World” (post ID is 123) will be stored in https://mysite.com/images/123/ directory. The plugin I mentioned above can only store pics in “post title” directory instead of “post id”. It’s not convenient if you change the title later. Any hack that I can do to make this happen? Thank you very much!