The short answer is yes they do and the bees do it for you. I've never heard of them needing to be pollinated manually unless they are grown in a greenhouse - even then it's unusual because at this time of year the doors would be left open and the insects can get in.
Hi, just back from my hols in France - great weather. Anyway, I am now doing catch-up. Yes, toms do need pollinating. Mine grow in the greenhouse, but what I do is every time you water the plants, just gently tap the canes that the toms are growing up on, and this is sufficient to manually polinate them