No, but it depends. One thing to remember about technical debt is the concept of interest. Each time you have to go into a part of the code with high technical debt, you pay interest.
There is also something to be said for building a v1 MVP to prove product/market fit, and then build an entirely separate v2 that is refined to what you have learned.
There is also something to be said for building a v1 MVP to prove product/market fit, and then build an entirely separate v2 that is refined to what you have learned.