Oddly enough, I do use KAIO
It works very well to clean and prepare the paint, and in my experience. To answer your question, it is not necessary to prepare the surface, although it does help. A sealant, like KSG, needs to be applied to bare paint, or a surface prepped with KAIO, which leaves an acrylic type of protection that KSG can bond with.
With a new vehicle, I would wash, clay, KAIO [with a machine and a finishing pad if available], and KSG. After you apply KSG, consider layering it after a couple of days. There are very few sealants that will properly bond with itself, but KSG is one of them. To get the most out of KSG, layer it!
And for what it is worth, be careful with KAIO. Apply it on cool to the touch paint and remove it completely. When I started to use it, it smeared when I removed it, because I moved it to early.