They will mix fine. No flush required (and not Allison recommend either). Change it, drive it for a bit, change it again. Allison considers that good enough for extended warranty in applications they provide warranty (non pickup application). If you want to get super picky, look up the Hoot method, not required but it is more complete (and more work, fluid). When I switched over I just did the double drain, that was ~200k ago in 2008.