No, but they will still suffer from hypothermia. The better models deal with the cold better, and installing a better coolant pump will make them even better at dealing with the cold. T4 and T5 androids are able to be completely resistant to the cold of space with archotech coolant pumps. I have not tested lower model androids or lower quality pumps, so IDK just how cheap a pump you need

I have a battleship full of T4 and a handful of T5s. You don't need breathable atmosphere but the -100c temp will kill un upgraded or un armored androids. Recon or power armor will keep your T3s and T4s warm but for T5s you will need a pair of good heatsinks or antifreeze.

I built the chassie for my ship with disposable T1s wearing parkas. Throw some heaters in the room you charge them in and by the time they get done charging they will have lost hypothermia debuff.