Depends on how much liquid is in your recipe. If you are making a traditional sauce/gravy, then yes. If you sauce is a bit soupy, like a cup or so of more water, then no. It also depends on how you are going to layer your lasagna. If you do it like me, sauce, noodles, ricotta/spinach/parm layer, repeat, you sauce needs to be rather thin. I prefer retaining all the flavor of my sauce/gravy and parboiling the noodles.
If you're using dry sheets,yes,4 to 5 mins.will do.If it is fresh,no need,but in both cases you need to sauce them.
I take sheet pans and lay my noodles (single layer) in the pan and pour hot water over the noodles to soften while I am making my sauce, shredding my cheese etc. Then, I assemble and bake as directed. My noodles come out perfect, not over or under cooked.
Ronda, that's exactly what I do. Perfect every time.
I have not pre-cooked the noodles in my most recent lasagne making ventures, and have discovered that they cook up beautifully straight from dry. And to think I used to waste all that time cooking them first!