From 'All in One SEO Pack' to 'WordPress SEO by Yoast'

You can import your old data from SEO by Yoast, and it makes no sense having both plugin running, in fact you can have some problems.
Anyway, Yoast has different settings and more options, so you’ll have some work anyhow.

how would you import from aio to yoast?

From the plugin itself

there is also a plugin called “SEO Data Transfer” in the repository that’ll do the mass conversion of the old data to the new.