No, they have to be placed manually
I think it's theoretically possible to auto-deploy when a depot(s) has 0 drone count and then use a mod like Recursive Blueprints+ to place more drones. But I haven't tried that mod, and some circuitry knowledge is then required
I could consider adding something that would make it easier, or something that will just auto-deploy new drones during high demand. But I'd have to check performance first, swarms can quickly eat tick speed when they're all working. But I don't have the time currently, so it might take a while
