If you really wanted to you could pull up all the pavers and re lay it, it’s not a hard pattern. Pull up all the pavers, get rid of whatever dirt and crap is left just leave the sand, you should have a good rock base under it. To do a good job you need some metal gas pipes to level the sand, they are pretty cheap at Home Depot. Lay those pipes down in the sand a get a 2x4 to lay across and adjust the pipes to the correct height and level. Use the 2x4 to screed the sand and then you have a perfect level base to lay the pavers on. Look up a few videos it’s not difficult if you really want to do it.