Does the ship have to already have the boost action to be able to use R7-T1's ability?

Sorry mate, no performing the same action twice in one turn.

So either you boost or use the ability fully.

Sorry mate, no performing the same action twice in one turn.

So either you boost or use the ability fully.

That's not even close to what he was asking.

No, you don't have to have boost on your action bar. Same way that Expert Handling allows anyone to barrel roll, even if they don't normally have that action.