Yes you will want to do a full wipe. Although sometimes it will work just flashing over the old version I always end up with problems just updating. Titianium Backup will backup your apps and their settings which makes it much easier to reinstall your apps.
Just note that doing things like flashing a new radio is risky, and can brick your phone (just like rooting and flashing new ROMs can.) But, I did flash this radio and my phone is fine, and, if you have silent audio, it's probably worth it.
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