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In reference to best practices for agent auto upgrade I think you're on the right track. We'd like all of our customers to be on the lastest available agent versions to ensure they're getting the most out of the agent and it's features.
As far as best practices for your roll out that's entirely up to you and your organization. The most common issue i'm aware of is some customers reporting bandwidth issues when enabling agent auto upgrade. This is why there's a P2P feature that can be enabled. In this scenario overall bandwidth is decreased because the agents will begin reach out to other agents on the internal network before attempting to reach outside of the network for the new agent download package. If you haven't been having any of these issues I'd say continue to roll this out to the rest of your environment. To ensure you have the proper configuration for Download Source take a look at the image below.
As far as creating a new policy or using the existing policy I think that's just personal preference. I'd think it would be faster to edit the existing policy as it's already applied to the endpoints you want affected. Once that's done you could just delete the 'test policy'.
I hope you find this information helpful.
Have a great day!