Yes, that is the recommendation as that will insure that the calibration is correct given the differences in absorbtion and reflection of the sound waves with the new pieces. Though it would be interesting to take a very familiar passage and listen critically before the couch switch, then after. If it doesn't make much of an audible difference, you may not feel any immediate need to rerun Autosetup. After all, sometimes one doesn't have the placement finalized, or getting new pieces leads to making more design changes in the room.
OTOH, running Autosetup is not that big a deal, is it?