Yes. But when you aren’t shifting, the battery trickle down is incredibly slow. Additionally, Sensors in each part ensure that the components go into sleep mode automatically when you aren’t riding to limit battery trickle down. You will need to wake the system once the batteries go into sleep mode to begin a new ride.
For extended transportation, SRAM recommends that you remove the derailleur batteries and replace them with the red battery port covers to keep the battery contacts clean. This will also remind you to install your batteries before you ride.