Asset Transfer

When using the Asset Tracking module and you want to transfer an asset from one location to another, do I first need to receive it from the current location back into inventory (Misc Receipt) and then issue it to the new location? Is there no option for a direct transfer?

Similarly, for asset retirement: if the asset currently exists in a field location, do I need to receive it back into inventory from the location and then issue it from inventory for the retirement?