Thanks for the pointer, i found sk163372 that describe consolidating two management servers and running reconnect tool using config.dat from the new server after installation package is created. Seems logical this would be possible going to cloud if there is some way to get the config.dat.
Edit: Found the config.dat in the msi file for the new agent, created a reconnect tool using this will try and see if it works.
Update: it works, pushed new agent with the argument UNINST_PASSWORD and it upgraded then pushed the reconnect.exe created with the config.dat from the new agent msi, zero reboots and client shows up in cloud management.