Error when copying from HFS+ to exFAT

Yesterday I shrunk my HFS+ partition that I had made on my mac to make way for an exFAT partition that I could access from linux. I did that succesfully but when I started copying files I noticed something:

Whenever the computer is copying a file with an unsupported character (e.g. ?, /) it fails because it says, No such file or directory

Is there any quick solution to automatically replace those characters to something else so as to let me copy the files?

These characters should be avoided in general - exactly for the issues you are now facing. You have to rename them or use an alternative file system supporting them. KRename might be a tool helping you in renaming, but there are others, too.

You can try the pax utility to rename files on the fly, between the source and the target.