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Some BASICs had a RENUM command. They were a bit of a pain as well. As you wrote your program you got to know which line numbers were associated with which statements. Doing a RENUM meant having to relearn the "meaning" of each line number. I'm pretty sure my VZ-200 didn't have the RENUM command.

Sadly Atari BASIC did not.

I can't recall if the Apple ][ BASIC had it built in, or if Beagle Brothers utility software could do it, but it was possible somehow.

Yes, most Microsoft ROM BASICs at least 8K in size had the renum command. It was still a pain because you had to figure out the start, end and skip values.