Are "IP warming" and "domain warming" necessary?

Summary:

We have sent many Emails from "A" sender Email domain for 5 years through Eloqua. Recently our company was acquired by another company and we need to change our Email domain to "B". "B" Email domain has been used for many years by the parent company with Pardot. Before we start to send Emails with Email domain "B", do we need to do IP warming and Email domain warming?

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