In the early weeks, yes—especially if they haven’t regained their birth weight yet. After that, if your pediatrician gives the green light and baby is growing well, you can usually let them sleep.
That said, “letting them sleep” is often a fantasy. Most babies will wake you long before you have to worry about it. 😅
So yes, wake to feed at first. But enjoy those rare long stretches when they come—eventually they will.