I don't know that the style guide is going to change at this point, honestly. While I didn't write the style guide, I think if you look at PHP's own functions, they're all named snake_case so, to me, it makes sense in that respect.
About namespacing, I'll consider it. I haven't done much work with namespacing and functions, but it seems like then everything gets even wordier? Instead of form_open(), you're now doing we'd have to use \CodeIgniter\Helpers\Forms\form_open(), which is kind of ugly.
I suppose we could put "use" statements in the views but that gets even uglier. So, not sure if there's an elegant way to make that work at the moment.