If they're in good shape, they should self-prime, even with the boat sitting still in neutral.
If they've been sitting a long time, the vanes on the impeller can become distorted and fail to make good contact with the outside of the pump housing, and they won't prime. And an old impeller can become inflexible enough to follow the shape of the housing. Try a new impeller. You could try mine off my spare motor, but it's been sitting a long time too.