How to remove "Expired Membership" upon membership renewal

Hi, I have a membership called "expired membership" that is applied on the expiration date. Then users can pay for another year of membership and the new plan is added to their account.

My question is how can I have the "expired membership" plan removed from their account upon renewal?

My memberships are on a 1-year calendar basis (they expire on the last day of the year, regardless of when the user signed up for the membership).

I have the "multiple memberships" addon enabled (i believe it was necessary to get the "expired membership" plan to automatically be assigned to users who haven't renewed).

Please help me resolve this. If it means having a custom function to remove the expired memberships if a current plan is active, please let me know how that would look and I can paste into a custom function or hook or something.

Thank you!