After much searching and testing, this is what I’ve up up with:
Redirect www to non-www
RewriteEngine On
RewriteCond %{HTTPS} !=on
RewriteCond %{HTTP_HOST} ^www\.(.+)$ [NC]
RewriteRule ^(.*)$ http://%1/$1 [R=301,L]
Redirect non-www to www
RewriteCond %{HTTP_HOST} !^www\.(.+)$ [NC]
RewriteRule ^(.*)$ http://www\.%{HTTP_HOST}/$1 [R=301,L]
or
RewriteCond %{HTTP_HOST} !^www\. [NC]
RewriteCond %{HTTP_HOST} ^(.+)$ [NC]
RewriteRule ^(.*)$ http://www\.%1/$1 [R=301,L]