The first steps guide for django-impersonate recommends to use in urls.py:

 url(r'^impersonate/', include('impersonate.urls')),

In my Django 4.2 project, after getting a warning, I instead used:

 path(r"impersonate/", include("impersonate.urls")),

I double-checked the django docs and path() seems to be the recomended mode.

The documentation could be updated (section Use, bullet point 3)