This is supported without full resync but can be pretty complex, it's all down to keeping a snapshot at both ends as the resync point when you admit the newly peer motioned volume.
From memory it's somewhere along these lines
Peer motion the primary and importvv will then take a snapshot as part of the import process. Sync should be fairy straight forward, async periodic will need a final syncrcopy issuing to get the two in sync before stopping the RC group. Then you can dismiss the old volume and resync from the new primary to the secondary
The process is slightly different between primary and secondary array sides as you need to manually create snaps on both sites prior to peer motioning the secondary volumes, for sync the snaps can be online, for async RC needs to be stopped momentarily. Then peer motion the snap from the old secondary to the new secondary, stop RC and reconfigure again using the snap as the resync point.
That may or may not be entirely accurate, but you get the idea of the importance of snaps as a resync point.
I believe the process is covered in the peer motion guide, if not check the RC guide.
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