How to automatically rename a document in a Library

I am using SharePoint 2013. I would like to automatically rename a PDF document in a Library.

The process is:

• Use a scanner to scan paper documents
• The scanning software will capture 5 meta data fields (date received, customer number, etc)
• The scanned PDF image and the 5 meta data fields will be sent to a SharePoint document library

I would like the scanned PDF file to have a specific naming convention based on the meta data fields: ex: I want the PDF file to be named: "Scan_2021_1101_7677"

Would I need a workflow to do this? Can anyone help? I'm not very skilled at Nintex Workflows.

Thanks!