You want to migrate all objects, right? Then the easiest option in my opinion is cp_merge command. You can copy objects_5_0.C file from the source management server to the new one, not replace but just put to some folder, use command cp_merge merge_objects and that should be it.
Of course there are some limitations for "advanced" deployments. It will not migrate some objects, for example OPSEC servers. But it works with simple hosts, groups and services.
Although it is said that cp_merge doesn't work with CMAs, I remember that I easily copied objects and policy to a test VM. As I remember, there would be issues if you use cp_merge for migrating policies between CMAs.
Anyway, easier just to try if it works in your case.