This post should be categorized in #vex-iq-challenge-discussion - it’s not about VRC, and the judging Q&A isn’t for rules questions.
Strictly speaking, yes - though I might be inclined to cut teams some slack if a new firmware version released literally the night before.
See semantic versioning - in the example you gave, the major and minor version are the same, and the patch version is different. In any case, all firmware updates are required.
Looking at that webpage above, we see that changes to the minor and patch versions are always backwards-compatible. So (assuming VEXos follows the SerVer spec) it’s safe to assume that any program you wrote for any 2.x.x firmware will work on any other 2.x.x firmware (unless it exploits a bug that got patched or something). But, new major versions may make incompatible API changes, so when hypothetical v3.0.0 is released, then your programs for 2.x.x may or may not work, depending on what they did and what changed.