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Import both the model that has the animation, and an extra copy of the model you want to transfer the animation to, which will be the intermediate (in the video's examples, that would be a second Scout). Use the constraints method on the intermediate model, then once that's done, select the intermediate, make a time selection that encompasses the animation, and right click the timeline > copy samples. Select the original model (that would be the original Scout in this case), move the time selection on a spot where you don't mind overwriting the animation samples (after his current animation usually), right click the timeline > paste samples.
You can then Alt-drag the samples and smoothen them together with the smooth preset to make a nice transition.