TypeScript Template literals Array Join

Question

I found a definition for a type level Split function:

type Split<S extends string, D extends string> =
    string extends S ? string[] :
    S extends '' ? [] :
    S extends `${infer T}${D}${infer U}` ? [T, ...Split<U, D>] : [S];

Is there also a way to create a type level Join<string[], string> function, so I can use them for example for changing underscores to hyphens?

For example:

type ChangeHyphensToUnderscore<T> = { [P in keyof T & string as `${Join(Split<P, '-'>, '_')}`]: T[P] };