Yes, one option is to install it on a newer R version. A tool like GitHub - r-lib/rig: The R Installation Manager could help installing multiple R versions. Depending on your OS, installing multiple versions at the same time may be easy or hard, our rig tool may help, nevertheless.
Another option is to use a CI service, this will help make sure that your package keeps working on all R versions you support. See e.g. this recent blog post of ours: GitHub Actions for R developers, v2