Gravity being the law and all, and liquid finding it's own level and stuff, I'm pretty sure that the only requirement for full transfer is that the bottom on the aux tank needs to be only slightly higher that the bottom of the main tank for proper transfer. Extra elevation may speed things up, but is not necessarily better.
This is an ill-advised approach for Justin, because he typically attends Western endurance rallies.... a slow transfer rate would be a huge issue in some events. He will likely end up outrunning his fuel supply... it's happened before, to more than a few folks.
For purposes of this upcoming Endurance event next month, Justin either needs to raise the tank as much as practical, or bite the bullet and go with an electrical pump until such time as he can fab up a proper rack that raises the cell a good several inches, but still allows him to fully open the topbox.