Well yes, but actually, no.
Stimming in itself isn’t actually a purely autistic thing. Neurotypical people do it all the time too, it’s just we’re more subtle about it (well, until fidget spinners were created). We click pens, hum, self-narrate, et cetera. Stimming is not always hand flapping, rocking, or improvised yodelling.
It’s entirely possible for an autistic person to have stimming behaviour that is very neurotypical. So it would seem like they didn’t need to stim, which is how we perceive neurotypical people.
The main difference between ‘stimming’ in how we understand it compared to the stimming that everyone engages in is the level.
In general, behaviors are described as "stims" when they go beyond what is culturally tolerated. In other words, a "stim" is a behavior that is culturally unacceptable.
While it's at least moderately acceptable in the United States to bite one's nails or twirl one's hair, for example, it's considered unacceptable to wander around flapping one's hands. Mild and occasional rocking is usually acceptable, but rocking one's entire body back and forth is considered to be a stim.
Given the right contexts, such behaviours end up totally acceptable. For example, hand flapping and rocking is generally seen in a negative light and associated with asylums and crazy people, but if you go to a particularly intense concert you might find a mosh pit:
A mosh pit allows you to release some aggression because the music gets you hyped, not because you want to fight.
Headbanger 101: Mosh Pit Etiquette and How to Make It out Alive
TLDR:
All humans use self-regulatory behaviour (stimming) but in autism it usually manifests in disruptive and culturally unacceptable ways. That said, an autistic person can have an entirely neurotypical method of stimming and thusly not seem to need to stim.