That would depend of a few factors, but typically no. I had less than 10k on mine when I lowered it on TRD springs. If it has a lot of miles, it would probably be a good idea to go ahead and do it, if it’s affordable. Or better yet, skip the springs and get coilovers.
Our OEM shocks/struts are made by Koni (at least mine are) which is a VERY reputable brand. You shouldn’t have any problems dropping the car with springs.
I would suggest getting an alignment done though. And keep in mind that the shorter springs will have different tolerances than the OEM setup.
Mine needed adjustment, but not because it was lowered. Some other measurement was off from manufacturing.