Normally you will get some settled gunk at the bottom. I often lose the first pint or two to junk in there, but after that it should be better. If it is still cloudy you can use gelatin, just google search on here for using it. That will definitely clear it up, but again you will lose several pints to it.
If you really want to transfer to a different keg, make a jumper using beer line. Put a liquid out post on both ends. Pressurize the empty keg the same level as the full one, then connect both kegs with the jumper on the liquid out posts. Pull the pressure release a bit on the empty keg, beer will flow. Keep doing that until the old keg kicks empty. But I'm not sure you need to.