Migrating configuration to a configuration node (or, programmatically instantiating a config node)

I'm considering moving some configuration fields from an existing node to a (new) config node, but would like to avoid a breaking change if possible. Is there a way to instantiate a config node programmatically? If there is, I figured I could just hide the original input fields from the edit node dialog, check if a config node instance matching any "legacy" config exists, and instantiate it if it doesn't. (I would also remove the legacy config, so the check wouldn't have to run again.)

I'm guessing it's is not possible, as the only thing I found on the topic was someone who talked about it being a breaking change. Figured I should ask, though, things might have changed in the ~ year since.

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