How can you balance maintaining legacy code with innovation?

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Legacy code is a common challenge for software engineers, especially in large and complex projects. It refers to code that is outdated, difficult to understand, or poorly documented, but still functional and essential for the system. On the other hand, innovation is the driving force of software development, as it enables new features, improved performance, and better user experience. How can you balance maintaining legacy code with innovation, without compromising quality, efficiency, or creativity?