While jacking isn't REQUIRED, it makes life easier & reduces wear on the tires etc..
Since you have to turn the steering back & forth quite a few times to get most of the air out....
I just had to do this TWICE on a Chevy Monte Carlo with a damaged cooler line, once for the initial "emergency" repair & again when I replaced the damaged cooler assembly for a friend... It wasn't COMPLETELY bled till after a good test drive as well.... THAT got the last bubbles out of the system, though it was close to OK before I drove it..
Patience & a LOT more wheel twisting than you expected to need to do is the key, when it doesn't work right away it'll worry you a bit - just give it more time to circulate. The system doesn't work well at all on air, and it takes a while to get it all out...