You have a constant length date in filename and it.s located just before file extension.
Use regexp.
def today = new Date().format('yyyyMMdd')
def newName = "aaa_bbb_20201222.txt".replaceAll( /\d{6}(\.\w+)$/ , today+'$1' )
Regexp explained: https://regex101.com/r/Q5uDtS/1
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