Yes. But when you aren’t shifting, the battery trickle down is incredibly slow. Additionally, sensors in each component ensure that they go into sleep mode automatically once vibrations stop and you aren’t riding. The system will awaken again once you begin a new ride.
For extended transportation, SRAM recommends that you remove the derailleur batteries and replace them with the red battery blocks to keep the battery contacts clean. This will also remind you to install your batteries before you ride. Battery covers can be installed on the batteries themselves.