I have seen Imron/Awlgrip put directly over existing surfaces. I do not believe that this is a good idea. Use a 2-part epoxy primer, perhaps a high-build primer that can be sanded, and put the top coat on the primer. This is because epoxy sticks to most anything, polyurethanes don't.
I once had a guy paint his go-fast boat in my shop. Took days to tape off the graphics. Then the Man With The Golden Arm came in and did a beautiful spray job in bright yellow on the whole boat. Next morning, the paint was all in little globules with bare spots between, and hard as a rock. They sanded it down, retaped, and reshot over epoxy primer, as had been suggested. Beautiful job, but two weeks wasted and you can still see little "coins" in the finish where the globules were.
1975 32' Flybridge Sedan, twin Perkins 6-354 diesels, 1:1.53 velvetdrives, 16 X 19 props. Merritt Island, Florida