i have already installed Simple mode on my RC7 PHPBB3 and then I was able to migrate it to PHPBB3 GOLD successfully.
Now I want to install Advance Mode SEO.
Can i do that?

Also right now All my topics (Around 3000) are like topic1234.html

I want them to be topic-title.html

But I also want them to have topic1234.html as well.

I am not aware of the issues which may be caused but something like a 301 redirect of topic1234.html to new url - is it possible?

It is very possible

But you should think well about it before you do so, the mixed mod rewrite in virtual folders mode can really be interesting too without having to moderate topic title too much.

forum-url/topicxx.html

Anyway, whatever you decide, you'll have to prepare yourself a bit, because we want the redirecting to start suddenly and to stay the same for some time for the migration process to work smoothly.

The principle is easy, we only need to make sure that the old rewritten urls still hit the proper script (eg topicxx.htlm =>viewtopic.php?t=xx) in order to let the zero duplicate do its job :

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topicxx.html => (mod_rewrite) viewtopic.php?t=xx => (zero dupe http 301) topic-title-txx.html (or forum-url/topicxx.html or ...) => (mod_rewrite) viewtopic.php?t=xx : page load.

This way, you'll send a unique http 301 header to redirect these, which is the proper way to do so.

To do it, you just need to add the forum and topic rewriterules from the simple mod, eg the one after :

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# FORUM

and the one after :

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# TOPIC WITHOUT FORUM ID & DELIM

in the simple .htaccess and add them after :

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# HERE IS A GOOD PLACE TO ADD OTHER PHPBB RELATED REWRITERULES

in the new .htaccess.

If you as well changed your profile urls, you'll need to keep the simple version of the profile urls too.
Just use the rewriterules that where up and running in simple mod, the safe implementation is :

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1) turn zero dupe off;
2) add the new rewriterules;
3) check if the simple url do work;
4)if so, turn the zero duplicate back on and voilà.

++

Ok, this ir for topics. But for the forums?

This topic you just bumped is over two years old. A lot of changed since then.

For example there are no separate SEO url mods, just one called Ultimate SEO url, in which you can chose your preferred rewrite mode (in the ACP).
There is no need for code change between rewrite modes (you just need to select the options you want in the ACP, save, and update your .htaccess.