I had to do this on my stock 2001 R34 GTT sedan and I can confirm that bridging terminals 3 and 5 on the relevant relay plug allows the fuel to pump continuously when the ignition is on.
Some other points/info:
The relays aren't on the passenger side, they're on the right-hand side.
Your relays might have been swapped around or mounted incorrectly/differently in the first place, as mine were, compared to the above relay location pic. If you've bridged the correct relay plug, fuel will pump solidly out of the whole diameter of the fuel line hose (rather than just a brief trickle if you've got the wrong relay). Dunno what the other relay is for, I'm hopeful that nothing has been borked.
The fuel line hose is 5/16". I bought mine from Supercheap Auto. It was approx. $10/m. In hindsight, I should have found a cheaper type of hose as one doesn't really need a rated hose for just transferring fuel. For example, Bunnings has 8mm hose for less than half the price (they were out of the 8mm size when I needed it).
Get about 2m of hose. This way you've got plenty of room, particularly if you're pumping into another vehicle.
You'll need a joiner, too. I bought mine from Supercheap Auto (also costs more than it should). Later discovered that the plastic "shell" of a pen/biro is the perfect size, and gives you a viewing window if it's a clear plastic!
The easiest way to identify which hose is the fuel line is to look for the fuel filter. The fuel filter casing has "OUT" written on it.
The fuel line was pretty hard to pull off. We ended up gripped it with some pliers (GENTLY) near the end and just rotating/jiggling it a very small amount. This then allowed me to pull it off with great effort.
You don't need to purchase or use hose clamps just to transfer the fuel, friction is enough to hold the hoses onto the joiners. In fact, don't push your hoses onto the joiner too tightly, you'll struggle to get them back off.
It takes a surprisingly small amount of time to pump a large amount of fuel, so keep an eye on your gauge(s).
Skyline screw trim fasteners are stupid. In fact, most trim fasteners are stupid.
Siphoning
Whilst we ended up discovering that the fuel pump relay method wasn't working because we had the wrong relay, we did attempt to siphon out the fuel using the traditional hose-down-into-tank-and-suck method.
It was actually perfectly easy to get a hose down into the tank, so perhaps there isn't an anti-siphon device in there after all. The 'pipe' down to the tank does turn to the right, perhaps this is what other people had difficulty with or perhaps there's something model-specific that's different.
We confirmed that we'd reached the fuel by blowing air into the hose and listening for the bubbles.
We decided not to use this method as there was no practical way for us to get Car B lower than Car A and siphoning into a Jerrycan would have taken too long (we only had a 5L "Jerrycan").