Having just had a similar situation, support will send another 95 if you let them know about your HA setup.
And for an RMA where they send a different model they will swap the license even if its not covered by the normal MX license swap scenarios. I.e. you are on PDL or if you ever get a switch of MS models during an RMA.
As for the actual swapping, there is no way for it to be seamless. There are two methods, one you can remove both old MXs from the network and then add the 95s or if you aren’t worried about client tracking data you can clone the existing network, all settings will copy over and then once staged properly just move cables and disable VPN on the old and enable on the new. If you use combined networks you will have to split and recombine once complete.
Regardless you should stage and make sure firmware gets fully updated before the swap to eliminate that from occurring during the changeover.
If you found this post helpful, please give it Kudos. If my answer solves your problem please click Accept as Solution so others can benefit from it.