Yes, that is exactly what I would do, from recovery mode. I prefer starting with a fresh, clean firmware before making any jumps.
Also, I have not had any freezing issues with 3.55CFW (came from 3.41JB). Again, it is possible that moving directly from one modified fw to another, without first running a clean ofw, could have contributed to someone's issues. I am only speculating, but to be comfortable I'll flash ofw every time. Happy modding.