We just did this on my team. We went from 2.3.2.0(!) ==> 2.5.8 (we'll bump up once a couple rabbitmq module bugs are resolved).
So, how did we do it? Installed the latest ansible and ran our playbooks, iterating through issues found until everything ran successful. As I noted above, we had some rabbitmq module issues which prevented from going past 2.5.8. Once we had that all worked out, we resolved the deprecated warnings. This puts us in a better place to more rapidly upgrade in the future.
I'm happy to helping if you run into any major issues. Best of luck!