They do, from the link in the comment you replied to: > Most often, Mars 2020 uses its ultra-high frequency (UHF) antenna (about 400 megahertz) to communicate

They do, from the link in the comment you replied to: > Most often, Mars 2020 uses its ultra-high frequency (UHF) antenna (about 400 megahertz) to communicate with Earth through NASA's orbiters around Mars. Because the rover and orbiter antennas are within close range of each other, they act a little like walky-talkies compared to the long-range telecommunications with Earth provided by the low-gain and high-gain antennas.